69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.4s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.5s | 53 errors · 874 warnings · 1950 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/2026-08-07-03-34-42-139928-9e5229b5b747-9382 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×3 + 14.16sINFOros2_control_node-9process started with pid [9440] + 14.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×3 + 14.17sINFOmove_group-21process started with pid [9547] + 14.18sINFOparameter_manager_node-22process started with pid [9548] + 14.18sINFOwaypoint_manager_node-23process started with pid [9549] + 14.18sINFOmove_joint_resampler_node-24process started with pid [9550] + 14.18sINFOmove_end_effector_resampler_node-25process started with pid [9553] + 14.18sINFOobjective_server_node_main-26process started with pid [9554] + 14.18sINFOcomponent_container_mt-27process started with pid [9555] + 14.18sINFOcomponent_container_mt-28process started with pid [9556] + 14.18sINFOexecute_objective_bridge-29process started with pid [9557] + 14.18sINFOui_teleop_bridge-30process started with pid [9558] + 14.18sINFOweb_bridge-31process started with pid [9559] + 14.19sINFOtf2_web_republisher_node-32process started with pid [9560] + 14.19sINFOvideo_server-33process started with pid [9561] + 14.19sINFOweb_bridge_auth_proxy-34process started with pid [9562] + 14.19sINFOweb_video_auth_proxy-35process started with pid [9563] + 14.21sINFOcomponent_container_isolated-1process started with pid [9432] + 14.22sINFOcomponent_container_isolated-2process started with pid [9433] + 14.22sINFOstatic_transform_publisher-3process started with pid [9434] + 14.22sINFOstatic_transform_publisher-4process started with pid [9435] + 14.22sINFOodom_qos_relay.py-5process started with pid [9436] + 14.22sINFOforward_stereo_publisher.py-6process started with pid [9437] + 14.22sINFOscan_to_scan_filter_chain-7process started with pid [9438] + 14.22sINFOscan_to_scan_filter_chain-8process started with pid [9439] + 14.23sINFOros2-10process started with pid [9536] + 14.23sINFOros2-11process started with pid [9537] + 14.23sINFOros2-12process started with pid [9538] + 14.23sINFOros2-13process started with pid [9539] + 14.23sINFOros2-14process started with pid [9540] + 14.24sINFOros2-15process started with pid [9541] + 14.24sINFOros2-16process started with pid [9542] + 14.24sINFOros2-17process started with pid [9543] + 14.25sINFOros2-18process started with pid [9544] + 14.25sINFOros2-19process started with pid [9545] + 14.25sINFOros2-20process started with pid [9546] + 14.39sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×3 + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×3 + 14.46sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×6 + 14.47sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×6 + 14.47sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×6 + 14.47sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×6 + 14.47sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×3 + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×3 + 14.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×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 3.286565 ms (missed cycles : 2).[0m + 14.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×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 + 14.52sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.52sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×3 + 14.53sINFOparameter_manager_nodeStarted parameter manager node. ×3 + 14.54sINFOcomponent_container_mtRobot initialized[0m ×3 + 14.54sINFOros2_control_nodeReceived robot description from topic.[0m ×3 + 14.54sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×3 + 14.55sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×3 + 14.56sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×3 + 14.58sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×6 + 14.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×3 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×3 + 14.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×3 + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×3 + 14.64sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×3 + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×3 + 14.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×3 + 14.85sINFOvideo_server2026/08/07 03:35:00 INF MediaMTX v1.19.3, linux, amd64 + 14.87sINFOvideo_server2026/08/07 03:35:00 INF configuration loaded from /tmp/moveit-webrtc-10b0h_d1/mediamtx.yml + 14.87sINFOvideo_server2026/08/07 03:35:00 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) + 14.87sINFOvideo_server2026/08/07 03:35:00 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) + 14.89sWARNscan_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 + 14.94sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×3 + 14.95sINFOmove_groupLoaded robot model in 0.396751 seconds[0m + 14.96sINFOmove_groupLoading robot model 'ur5e'...[0m ×3 + 14.96sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 15.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×3 + 15.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×3 + 15.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.558999 ms (missed cycles : 3).[0m + 15.61sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 15.61sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.61sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.62sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.63sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 15.87sINFOwaypoint_manager_nodeLoaded robot model in 0.412249 seconds[0m + 15.88sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×3 + 15.88sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 16.04sINFOmove_group[2026-08-07 03:35:01.575] [moveit_pro_license] [info] + 16.05sINFOmove_group************************************************* ×6 + 16.05sINFOmove_group* MoveIt Pro License ×3 + 16.05sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 16.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766346 ms (missed cycles : 3).[0m + 16.26sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×3 + 16.26sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×3 + 16.53sWARNwaypoint_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 + 16.53sWARNwaypoint_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 + 16.54sWARNwaypoint_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 + 16.54sWARNwaypoint_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 + 16.54sWARNwaypoint_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 + 16.54sWARNwaypoint_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 + 16.54sWARNwaypoint_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 + 16.54sWARNwaypoint_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 + 16.55sWARNwaypoint_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 + 16.55sWARNwaypoint_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 + 16.55sWARNwaypoint_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 + 16.55sWARNwaypoint_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 + 16.56sWARNwaypoint_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 + 16.56sWARNwaypoint_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 + 16.56sWARNwaypoint_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 + 16.57sWARNwaypoint_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 + 16.57sWARNwaypoint_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 + 16.57sWARNwaypoint_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 + 16.58sWARNwaypoint_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 + 16.58sWARNwaypoint_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 + 16.59sWARNwaypoint_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 + 16.59sWARNwaypoint_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 + 16.59sWARNwaypoint_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 + 16.59sWARNwaypoint_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 + 16.60sWARNwaypoint_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 + 16.60sWARNwaypoint_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 + 16.60sWARNwaypoint_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 + 16.60sWARNwaypoint_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 + 16.78sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×6 + 16.79sINFOmove_groupListening to 'joint_states' for joint states[0m ×3 + 16.79sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×3 + 16.79sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×3 + 16.79sINFOmove_groupStopping existing planning scene publisher.[0m ×3 + 16.80sINFOmove_groupStopped publishing maintained planning scene.[0m ×4 + 16.81sINFOmove_groupStarting planning scene monitor[0m ×3 + 16.81sINFOmove_groupListening to '/planning_scene'[0m ×3 + 16.81sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×3 + 16.81sINFOmove_groupListening to 'collision_object'[0m ×3 + 16.81sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×3 + 16.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×3 + 16.98sINFOwaypoint_manager_node[2026-08-07 03:35:02.514] [moveit_pro_license] [info] + 16.98sINFOwaypoint_manager_node************************************************* ×6 + 16.98sINFOwaypoint_manager_node* MoveIt Pro License ×3 + 16.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 17.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416115 ms (missed cycles : 2).[0m + 17.52sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×3 + 17.52sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×3 + 17.54sINFOwaypoint_manager_nodeStarted waypoint manager node. ×3 + 17.67sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×3 + 17.67sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×3 + 17.67sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×3 + 17.67sINFOros2_control_nodeNew Lidar config detected[0m ×6 + 17.67sINFOros2_control_nodeLidar name: lidar_front[0m ×3 + 17.67sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×6 + 17.67sINFOros2_control_nodeLidar angle min: 0.000000[0m ×6 + 17.67sINFOros2_control_nodeLidar angle max: 4.712400[0m ×6 + 17.67sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×6 + 17.68sINFOros2_control_nodeLidar range min: 0.050000[0m ×6 + 17.68sINFOros2_control_nodeLidar range max: 25.000000[0m ×6 + 17.68sINFOros2_control_nodeLidar name: lidar_rear[0m ×3 + 17.68sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×3 + 17.68sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×3 + 17.68sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×3 + 17.68sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×3 + 17.68sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×3 + 17.68sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×3 + 17.68sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×3 + 17.68sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×3 + 17.70sWARNros2_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 + 17.82sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×3 + 17.82sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×3 + 17.82sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 17.84sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×3 + 17.85sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×3 + 17.85sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×3 + 17.85sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×3 + 17.86sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×3 + 17.89sINFOros2_control_nodeSuccessfully switched controllers![0m ×22 + 17.90sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×3 + 17.92sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×3 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×6 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 17.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×3 + 17.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×3 + 17.98sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×3 + 18.04sINFOobjective_server_node[2026-08-07 03:35:03.582] [moveit_pro_license] [info] + 18.04sINFOobjective_server_node************************************************* ×8 + 18.04sINFOobjective_server_node* MoveIt Pro License ×4 + 18.04sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 18.13sINFOobjective_server_nodeLoaded robot model in 0.0305176 seconds[0m + 18.13sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×3 + 18.13sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×3 + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.17sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×3 + 18.19sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×3 + 18.19sWARNcomponent_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 + 18.19sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×3 + 18.19sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×3 + 18.19sINFOcomponent_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 + 18.20sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.20sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×3 + 18.24sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 18.24sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×3 + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127005 ms (missed cycles : 2).[0m + 18.24sINFOros2-14process has finished cleanly [pid 9540] + 18.25sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 18.32sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×3 + 18.33sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×3 + 18.33sINFOros2_control_nodeconfigure successful[0m ×9 + 18.34sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×3 + 18.35sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×3 + 18.42sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.42sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×3 + 18.45sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×3 + 18.45sINFOcomponent_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 + 18.56sINFOcomponent_container_mtLoaded robot model in 0.372658 seconds[0m + 18.56sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×3 + 18.56sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×3 + 18.61sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×6 + 18.61sWARNobjective_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 + 18.61sWARNobjective_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 + 18.61sWARNobjective_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 + 18.61sWARNobjective_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 + 18.61sWARNobjective_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 + 18.61sWARNobjective_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 + 18.62sWARNobjective_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 + 18.62sWARNobjective_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 + 18.62sWARNobjective_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 + 18.62sWARNobjective_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 + 18.66sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×3 + 18.66sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×3 + 18.66sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 18.68sINFOobjective_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 + 18.68sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×3 + 18.70sINFOros2-13process has finished cleanly [pid 9539] + 18.71sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×3 + 18.71sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×3 + 18.71sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×3 + 18.71sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×3 + 18.71sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×3 + 18.71sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×3 + 18.71sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×3 + 18.71sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×3 + 18.79sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×3 + 18.79sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×3 + 18.79sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×27 + 18.79sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×3 + 18.79sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×3 + 18.79sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×3 + 18.79sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×3 + 18.80sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.92sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.93sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.94sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×3 + 18.94sWARNcomponent_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 + 19.00sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×3 + 19.02sINFOmove_groupMoveGroup debug mode is ON[0m ×3 + 19.02sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×3 + 19.07sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×3 + 19.08sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×3 + 19.08sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×3 + 19.08sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×3 + 19.08sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×3 + 19.09sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×3 + 19.09sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×3 + 19.14sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×3 + 19.15sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 19.15sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×3 + 19.16sINFOros2-16process has finished cleanly [pid 9542] + 19.17sINFOcomponent_container_mt[2026-08-07 03:35:04.712] [moveit_pro_license] [info] + 19.17sINFOcomponent_container_mt************************************************* ×6 + 19.17sINFOcomponent_container_mt* MoveIt Pro License ×3 + 19.17sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×3 + 19.19sINFOmove_group ×12 + 19.19sINFOmove_group******************************************************** ×6 + 19.19sINFOmove_group* MoveGroup using: ×3 + 19.19sINFOmove_group* - apply_planning_scene_service ×3 + 19.19sINFOmove_group* - clear_octomap_service ×3 + 19.19sINFOmove_group* - get_group_urdf ×3 + 19.19sINFOmove_group* - load_geometry_from_file ×3 + 19.19sINFOmove_group* - get_planning_scene_service ×3 + 19.19sINFOmove_group* - kinematics_service ×3 + 19.19sINFOmove_group* - save_geometry_to_file ×3 + 19.19sINFOmove_group* - GetPlanningGroups ×3 + 19.19sINFOmove_group* - URDFPlanningSceneCapability ×3 + 19.19sINFOmove_group[0m ×3 + 19.20sINFOmove_group[92mYou can start planning now![0m ×3 + 19.36sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 19.41sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×3 + 19.42sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×3 + 19.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653053 ms (missed cycles : 3).[0m + 19.44sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×12 + 19.44sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×12 + 19.49sINFOcomponent_container_mtStarting planning scene monitor[0m ×3 + 19.50sINFOcomponent_container_mtListening to '/planning_scene'[0m ×3 + 19.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×3 + 19.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×3 + 19.62sWARNros2_control_nodeCamera render tick took 0.85 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m + 19.65sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.65sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×3 + 19.67sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×3 + 19.81sINFOros2_control_node[2026-08-07 03:35:05.350] [info] Controller state will be published at 20 Hz. + 19.81sINFOros2_control_node[2026-08-07 03:35:05.351] [info] JointVelocityController 'on_configure' succeeded. + 20.15sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×3 + 20.15sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×3 + 20.15sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 20.17sINFOros2-20process has finished cleanly [pid 9546] + 20.21sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×3 + 20.21sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×3 + 20.22sWARNobjective_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 + 20.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105925 ms (missed cycles : 2).[0m + 20.53sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 20.53sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×3 + 20.54sINFOros2-15process has finished cleanly [pid 9541] + 20.61sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 20.67sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×3 + 20.68sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×3 + 20.89sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×3 + 21.00sINFOros2_control_node[2026-08-07 03:35:06.538] [warning] No force/torque sensor configured. The VFC will ignore force references. + 21.00sINFOros2_control_node[2026-08-07 03:35:06.540] [info] Controller state will be published at 10 Hz. + 21.00sINFOros2_control_node[2026-08-07 03:35:06.541] [info] VelocityForceController 'on_configure' succeeded. + 21.35sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×3 + 21.35sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×3 + 21.35sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 21.36sINFOros2-18process has finished cleanly [pid 9544] + 21.43sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×3 + 21.43sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×3 + 21.44sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×3 + 21.44sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×3 + 21.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.133212 ms (missed cycles : 3).[0m + 21.78sINFOros2-11process has finished cleanly [pid 9537] + 21.78sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×3 + 21.79sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×3 + 21.79sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 21.85sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×3 + 21.85sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×3 + 22.21sINFOros2_control_node[2026-08-07 03:35:07.751] [warning] No force/torque sensor configured. The VFC will ignore force references. + 22.21sINFOros2_control_node[2026-08-07 03:35:07.753] [info] Controller state will be published at 10 Hz. + 22.22sINFOros2_control_node[2026-08-07 03:35:07.754] [info] VelocityForceController 'on_configure' succeeded. + 22.55sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×3 + 22.56sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×3 + 22.56sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 22.56sINFOros2-17process has finished cleanly [pid 9543] + 22.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 22.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×3 + 22.66sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×3 + 22.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×3 + 22.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.951910 ms (missed cycles : 2).[0m + 22.98sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×3 + 22.98sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×3 + 22.99sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 23.00sINFOros2-10process has finished cleanly [pid 9536] + 23.06sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×3 + 23.06sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×3 + 23.06sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×3 + 23.07sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×3 + 23.07sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×3 + 23.40sINFOros2-12process has finished cleanly [pid 9538] + 23.47sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×3 + 23.47sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×3 + 23.47sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_1mp062j_ --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_gup6251w --params-file /tmp/launch_params_aao1i1hi [0m + 23.54sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×3 + 23.54sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×3 + 23.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112535 ms (missed cycles : 2).[0m + 23.92sINFOros2_control_node[2026-08-07 03:35:09.459] [info] Controller state will be published at 20 Hz. + 23.92sINFOros2_control_node[2026-08-07 03:35:09.460] [info] JointVelocityController 'on_configure' succeeded. + 24.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×33 + 24.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×33 + 24.27sINFOros2-19process has finished cleanly [pid 9545] + 24.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.579065 ms (missed cycles : 3).[0m + 25.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726435 ms (missed cycles : 2).[0m + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.017897 ms (missed cycles : 3).[0m + 27.71sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.235866 ms (missed cycles : 2).[0m + 28.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388907 ms (missed cycles : 2).[0m + 29.14sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786073714.68141365 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.15sINFOmove_groupClearing octomap...[0m ×4 + 29.15sINFOmove_groupOctomap cleared.[0m ×4 + 29.15sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786073714.69160986 seconds + 29.73sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786073715.27273321 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 29.75sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786073715.28285933 seconds + 29.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852919 ms (missed cycles : 2).[0m + 30.30sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786073715.83748698 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 30.45sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786073715.98806572 seconds + 30.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800377 ms (missed cycles : 3).[0m + 31.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786073716.57774067 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.05sINFOobjective_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 + 31.05sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.05sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×3 + 31.05sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.08sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×3 + 31.08sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×3 + 31.08sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.09sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×3 + 31.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786073716.63790917 seconds + 31.67sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786073717.20443797 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 31.68sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×12 + 31.68sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m + 31.68sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m + 31.68sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m + 32.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767800 ms (missed cycles : 2).[0m + 32.73sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×7 + 32.73sINFOobjective_server_nodePlanning for 177 path waypoints. + 33.05sINFOros2_control_nodeReceived new action goal[0m ×18 + 33.06sINFOros2_control_nodeAccepted new action goal[0m ×18 + 33.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371643 ms (missed cycles : 3).[0m + 34.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865725 ms (missed cycles : 3).[0m + 35.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986369 ms (missed cycles : 2).[0m + 36.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.762376 ms (missed cycles : 2).[0m + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396926 ms (missed cycles : 3).[0m + 38.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.176610 ms (missed cycles : 2).[0m + 39.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.827439 ms (missed cycles : 3).[0m + 40.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.593065 ms (missed cycles : 2).[0m + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.211162 ms (missed cycles : 2).[0m + 42.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870403 ms (missed cycles : 3).[0m + 43.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.199772 ms (missed cycles : 2).[0m + 44.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969798 ms (missed cycles : 3).[0m + 45.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075927 ms (missed cycles : 2).[0m + 46.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822950 ms (missed cycles : 3).[0m + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601211 ms (missed cycles : 3).[0m + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197521 ms (missed cycles : 2).[0m + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326255 ms (missed cycles : 2).[0m + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.529370 ms (missed cycles : 3).[0m + 52.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.969115 ms (missed cycles : 3).[0m + 53.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630626 ms (missed cycles : 3).[0m + 54.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696666 ms (missed cycles : 3).[0m + 55.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625607 ms (missed cycles : 3).[0m + 56.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.880188 ms (missed cycles : 2).[0m + 57.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852536 ms (missed cycles : 2).[0m + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.169776 ms (missed cycles : 2).[0m + 59.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.831777 ms (missed cycles : 3).[0m + 61.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.778945 ms (missed cycles : 2).[0m + 62.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607733 ms (missed cycles : 3).[0m + 63.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096269 ms (missed cycles : 2).[0m + 64.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021099 ms (missed cycles : 3).[0m + 65.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.606284 ms (missed cycles : 3).[0m + 66.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001789 ms (missed cycles : 3).[0m + 67.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.277172 ms (missed cycles : 2).[0m + 68.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773535 ms (missed cycles : 3).[0m + 69.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421147 ms (missed cycles : 3).[0m + 70.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105572 ms (missed cycles : 2).[0m + 71.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086132 ms (missed cycles : 2).[0m + 72.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.505662 ms (missed cycles : 2).[0m + 74.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283837 ms (missed cycles : 2).[0m + 74.43sINFOros2_control_nodeGoal reached, success![0m ×16 + 74.46sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786073760.00142765 seconds + 75.02sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786073760.56048059 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 75.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650917 ms (missed cycles : 3).[0m + 76.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.541329 ms (missed cycles : 3).[0m + 76.16sINFOobjective_server_nodeFound path in 0 iterations (3.1039e-05 s). + 76.16sINFOobjective_server_nodePath shortcutter: [X____X] + 76.16sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×11 + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.798027 ms (missed cycles : 3).[0m + 78.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.727778 ms (missed cycles : 3).[0m + 78.28sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786073763.82060432 seconds + 78.85sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786073764.38993931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. + 79.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238114 ms (missed cycles : 2).[0m + 79.26sINFOobjective_server_nodeFound path in 0 iterations (3.37e-07 s). + 80.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.238356 ms (missed cycles : 2).[0m + 81.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018765 ms (missed cycles : 2).[0m + 81.40sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] + 82.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.856202 ms (missed cycles : 2).[0m + 83.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971718 ms (missed cycles : 3).[0m + 84.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.796014 ms (missed cycles : 2).[0m + 85.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108655 ms (missed cycles : 2).[0m + 86.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.861193 ms (missed cycles : 3).[0m + 87.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.382960 ms (missed cycles : 4).[0m + 87.72sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m + 88.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579719 ms (missed cycles : 2).[0m + 89.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144751 ms (missed cycles : 2).[0m + 90.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.821220 ms (missed cycles : 2).[0m + 92.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149403 ms (missed cycles : 2).[0m + 93.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.609153 ms (missed cycles : 4).[0m + 94.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591890 ms (missed cycles : 3).[0m + 95.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880984 ms (missed cycles : 3).[0m + 96.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.675326 ms (missed cycles : 3).[0m + 97.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781297 ms (missed cycles : 2).[0m + 98.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.369643 ms (missed cycles : 5).[0m + 99.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.450660 ms (missed cycles : 3).[0m +100.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.839748 ms (missed cycles : 3).[0m +101.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.792408 ms (missed cycles : 3).[0m +102.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126156 ms (missed cycles : 3).[0m +103.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.523329 ms (missed cycles : 3).[0m +104.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.561062 ms (missed cycles : 4).[0m +106.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823698 ms (missed cycles : 3).[0m +107.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.480716 ms (missed cycles : 4).[0m +108.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.878735 ms (missed cycles : 3).[0m +109.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376677 ms (missed cycles : 3).[0m +110.18sINFOobjective_server_nodePlanning for 13 path waypoints. ×2 +110.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319921 ms (missed cycles : 2).[0m +111.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223559 ms (missed cycles : 3).[0m +112.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.988529 ms (missed cycles : 3).[0m +113.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742043 ms (missed cycles : 3).[0m +114.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.449617 ms (missed cycles : 4).[0m +115.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.897425 ms (missed cycles : 2).[0m +117.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969456 ms (missed cycles : 3).[0m +118.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248154 ms (missed cycles : 3).[0m +119.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112629 ms (missed cycles : 4).[0m +120.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321238 ms (missed cycles : 4).[0m +121.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770532 ms (missed cycles : 2).[0m +122.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755238 ms (missed cycles : 3).[0m +123.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.574764 ms (missed cycles : 4).[0m +124.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560361 ms (missed cycles : 3).[0m +125.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451786 ms (missed cycles : 4).[0m +126.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.173970 ms (missed cycles : 2).[0m +127.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787801 ms (missed cycles : 2).[0m +128.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174965 ms (missed cycles : 2).[0m +129.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527572 ms (missed cycles : 4).[0m +131.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.580595 ms (missed cycles : 5).[0m +132.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.094282 ms (missed cycles : 4).[0m +133.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124709 ms (missed cycles : 3).[0m +134.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.505320 ms (missed cycles : 3).[0m +135.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355101 ms (missed cycles : 4).[0m +135.79sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786073821.33005929 seconds +136.36sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786073821.89768195 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +136.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.784326 ms (missed cycles : 3).[0m +136.79sINFOobjective_server_nodeFound path in 0 iterations (5.8e-07 s). +136.82sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 +137.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332102 ms (missed cycles : 2).[0m +138.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955777 ms (missed cycles : 2).[0m +139.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991132 ms (missed cycles : 3).[0m +140.49sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786073826.02783966 seconds +140.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075561 ms (missed cycles : 2).[0m +141.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716254 ms (missed cycles : 3).[0m +142.05sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786073827.58724833 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +142.53sINFOobjective_server_nodeFound path in 0 iterations (6.05e-07 s). +142.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855558 ms (missed cycles : 3).[0m +143.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.081585 ms (missed cycles : 2).[0m +144.45sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 +144.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920083 ms (missed cycles : 3).[0m +146.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746888 ms (missed cycles : 3).[0m +147.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.198549 ms (missed cycles : 4).[0m +147.72sINFOros2_control_nodeMuJoCo sim: 0.42% of iterations over time budget. Below 1% expected for non-realtime.[0m +148.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.830057 ms (missed cycles : 2).[0m +149.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741154 ms (missed cycles : 3).[0m +150.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015993 ms (missed cycles : 2).[0m +151.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958584 ms (missed cycles : 2).[0m +152.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.080832 ms (missed cycles : 2).[0m +153.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208118 ms (missed cycles : 2).[0m +154.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.539716 ms (missed cycles : 3).[0m +156.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.441748 ms (missed cycles : 3).[0m +157.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.383520 ms (missed cycles : 4).[0m +158.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779963 ms (missed cycles : 3).[0m +159.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.807520 ms (missed cycles : 2).[0m +160.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.904794 ms (missed cycles : 2).[0m +161.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.752180 ms (missed cycles : 3).[0m +162.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955505 ms (missed cycles : 2).[0m +163.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.905101 ms (missed cycles : 2).[0m +164.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200914 ms (missed cycles : 3).[0m +165.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777418 ms (missed cycles : 3).[0m +166.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.879582 ms (missed cycles : 3).[0m +167.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.895977 ms (missed cycles : 2).[0m +168.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648300 ms (missed cycles : 2).[0m +169.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.671421 ms (missed cycles : 3).[0m +170.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885399 ms (missed cycles : 3).[0m +172.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884401 ms (missed cycles : 2).[0m +172.91sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786073858.44737673 seconds +173.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354555 ms (missed cycles : 4).[0m +173.47sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786073859.01147056 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +173.93sINFOobjective_server_nodeFound path in 0 iterations (3.15e-07 s). +174.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129538 ms (missed cycles : 4).[0m +175.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000338 ms (missed cycles : 2).[0m +175.61sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] +176.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919642 ms (missed cycles : 3).[0m +177.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194202 ms (missed cycles : 2).[0m +178.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.468436 ms (missed cycles : 4).[0m +179.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167981 ms (missed cycles : 2).[0m +180.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141251 ms (missed cycles : 3).[0m +181.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.741528 ms (missed cycles : 2).[0m +182.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189325 ms (missed cycles : 3).[0m +183.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999211 ms (missed cycles : 3).[0m +184.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.035950 ms (missed cycles : 2).[0m +185.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787530 ms (missed cycles : 3).[0m +186.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792153 ms (missed cycles : 2).[0m +187.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263891 ms (missed cycles : 4).[0m +189.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.250591 ms (missed cycles : 3).[0m +190.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211982 ms (missed cycles : 4).[0m +191.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.051950 ms (missed cycles : 4).[0m +192.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833295 ms (missed cycles : 3).[0m +193.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.512158 ms (missed cycles : 4).[0m +194.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927405 ms (missed cycles : 2).[0m +195.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.208771 ms (missed cycles : 2).[0m +196.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528213 ms (missed cycles : 4).[0m +197.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.557613 ms (missed cycles : 3).[0m +198.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.310307 ms (missed cycles : 2).[0m +199.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788428 ms (missed cycles : 3).[0m +200.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760707 ms (missed cycles : 3).[0m +201.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148751 ms (missed cycles : 2).[0m +202.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429116 ms (missed cycles : 2).[0m +203.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.690067 ms (missed cycles : 3).[0m +204.65sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×4 +204.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091418 ms (missed cycles : 2).[0m +205.40sINFOobjective_server_nodePlanning for 54 path waypoints. +205.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.261593 ms (missed cycles : 4).[0m +206.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380733 ms (missed cycles : 3).[0m +207.72sINFOros2_control_nodeMuJoCo sim: 0.47% of iterations over time budget. Below 1% expected for non-realtime.[0m +207.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.642156 ms (missed cycles : 2).[0m +209.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694943 ms (missed cycles : 3).[0m +210.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.168623 ms (missed cycles : 4).[0m +211.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.188120 ms (missed cycles : 4).[0m +212.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.933072 ms (missed cycles : 2).[0m +213.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.530729 ms (missed cycles : 4).[0m +214.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.517920 ms (missed cycles : 3).[0m +215.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.300232 ms (missed cycles : 5).[0m +216.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497715 ms (missed cycles : 3).[0m +217.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.884282 ms (missed cycles : 3).[0m +218.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.780086 ms (missed cycles : 3).[0m +219.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.433804 ms (missed cycles : 2).[0m +220.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872436 ms (missed cycles : 2).[0m +221.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.021316 ms (missed cycles : 2).[0m +222.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.108810 ms (missed cycles : 3).[0m +223.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924563 ms (missed cycles : 3).[0m +225.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772952 ms (missed cycles : 2).[0m +226.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.720419 ms (missed cycles : 4).[0m +227.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970048 ms (missed cycles : 3).[0m +228.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247153 ms (missed cycles : 3).[0m +229.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240706 ms (missed cycles : 4).[0m +230.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.649558 ms (missed cycles : 3).[0m +231.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509298 ms (missed cycles : 3).[0m +232.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.268340 ms (missed cycles : 3).[0m +233.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354720 ms (missed cycles : 4).[0m +234.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179922 ms (missed cycles : 4).[0m +236.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782932 ms (missed cycles : 2).[0m +237.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.260814 ms (missed cycles : 4).[0m +238.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.962228 ms (missed cycles : 3).[0m +239.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870933 ms (missed cycles : 3).[0m +240.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059091 ms (missed cycles : 3).[0m +241.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.926783 ms (missed cycles : 3).[0m +242.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698415 ms (missed cycles : 2).[0m +243.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974841 ms (missed cycles : 3).[0m +244.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.389515 ms (missed cycles : 4).[0m +245.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181953 ms (missed cycles : 4).[0m +246.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160735 ms (missed cycles : 2).[0m +248.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.959573 ms (missed cycles : 4).[0m +249.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021533 ms (missed cycles : 3).[0m +250.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.022044 ms (missed cycles : 3).[0m +251.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061380 ms (missed cycles : 2).[0m +252.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.033218 ms (missed cycles : 4).[0m +253.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.531938 ms (missed cycles : 3).[0m +254.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680054 ms (missed cycles : 4).[0m +255.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246896 ms (missed cycles : 3).[0m +256.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210362 ms (missed cycles : 2).[0m +257.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913400 ms (missed cycles : 3).[0m +258.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803031 ms (missed cycles : 3).[0m +259.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980602 ms (missed cycles : 3).[0m +260.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369083 ms (missed cycles : 3).[0m +261.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.506308 ms (missed cycles : 4).[0m +262.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004855 ms (missed cycles : 4).[0m +263.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.759362 ms (missed cycles : 5).[0m +264.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.922333 ms (missed cycles : 5).[0m +265.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847588 ms (missed cycles : 3).[0m +266.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483046 ms (missed cycles : 4).[0m +267.72sINFOros2_control_nodeMuJoCo sim: 1.00% of iterations over time budget. Below 1% expected for non-realtime.[0m +267.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.825880 ms (missed cycles : 3).[0m +269.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918496 ms (missed cycles : 2).[0m +270.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816337 ms (missed cycles : 3).[0m +271.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836024 ms (missed cycles : 3).[0m +272.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189802 ms (missed cycles : 4).[0m +273.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755116 ms (missed cycles : 3).[0m +274.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081143 ms (missed cycles : 4).[0m +275.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.410158 ms (missed cycles : 4).[0m +276.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.656525 ms (missed cycles : 3).[0m +277.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.623991 ms (missed cycles : 3).[0m +278.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015265 ms (missed cycles : 3).[0m +279.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733777 ms (missed cycles : 3).[0m +280.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.186851 ms (missed cycles : 4).[0m +281.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.765436 ms (missed cycles : 2).[0m +282.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.261326 ms (missed cycles : 3).[0m +283.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.935900 ms (missed cycles : 3).[0m +284.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.779040 ms (missed cycles : 3).[0m +285.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121293 ms (missed cycles : 4).[0m +287.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299869 ms (missed cycles : 3).[0m +288.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774684 ms (missed cycles : 3).[0m +289.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.766769 ms (missed cycles : 2).[0m +290.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.999086 ms (missed cycles : 3).[0m +291.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.687163 ms (missed cycles : 2).[0m +292.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721258 ms (missed cycles : 2).[0m +293.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.826304 ms (missed cycles : 3).[0m +294.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.114515 ms (missed cycles : 4).[0m +295.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150433 ms (missed cycles : 4).[0m +296.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.916660 ms (missed cycles : 2).[0m +297.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655641 ms (missed cycles : 3).[0m +298.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.686357 ms (missed cycles : 2).[0m +299.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.150170 ms (missed cycles : 3).[0m +300.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029186 ms (missed cycles : 3).[0m +301.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.938998 ms (missed cycles : 3).[0m +302.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172725 ms (missed cycles : 2).[0m +304.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083334 ms (missed cycles : 3).[0m +305.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.706288 ms (missed cycles : 3).[0m +306.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.761180 ms (missed cycles : 2).[0m +307.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432342 ms (missed cycles : 3).[0m +308.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.559704 ms (missed cycles : 2).[0m +309.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281587 ms (missed cycles : 2).[0m +310.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.601469 ms (missed cycles : 4).[0m +311.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.139193 ms (missed cycles : 2).[0m +312.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847816 ms (missed cycles : 3).[0m +313.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.198132 ms (missed cycles : 2).[0m +314.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339249 ms (missed cycles : 3).[0m +315.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.799326 ms (missed cycles : 4).[0m +316.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236569 ms (missed cycles : 4).[0m +317.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.085882 ms (missed cycles : 2).[0m +318.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242453 ms (missed cycles : 3).[0m +319.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823840 ms (missed cycles : 2).[0m +321.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.142076 ms (missed cycles : 4).[0m +322.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202486 ms (missed cycles : 3).[0m +323.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.811211 ms (missed cycles : 3).[0m +324.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.750645 ms (missed cycles : 4).[0m +325.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.704383 ms (missed cycles : 2).[0m +326.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964745 ms (missed cycles : 2).[0m +327.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.901079 ms (missed cycles : 3).[0m +327.73sINFOros2_control_nodeMuJoCo sim: 1.36% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +328.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.955952 ms (missed cycles : 3).[0m +329.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826155 ms (missed cycles : 2).[0m +330.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.814216 ms (missed cycles : 3).[0m +331.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.438935 ms (missed cycles : 3).[0m +332.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.328733 ms (missed cycles : 4).[0m +333.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042649 ms (missed cycles : 2).[0m +334.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642003 ms (missed cycles : 4).[0m +336.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668530 ms (missed cycles : 3).[0m +337.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726871 ms (missed cycles : 2).[0m +338.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971821 ms (missed cycles : 3).[0m +339.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415325 ms (missed cycles : 3).[0m +340.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.587621 ms (missed cycles : 3).[0m +341.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295613 ms (missed cycles : 4).[0m +342.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768523 ms (missed cycles : 3).[0m +343.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440184 ms (missed cycles : 3).[0m +344.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892117 ms (missed cycles : 3).[0m +345.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702771 ms (missed cycles : 3).[0m +347.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.934561 ms (missed cycles : 3).[0m +348.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.883161 ms (missed cycles : 3).[0m +349.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.847108 ms (missed cycles : 3).[0m +350.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.330548 ms (missed cycles : 4).[0m +351.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616939 ms (missed cycles : 3).[0m +352.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726131 ms (missed cycles : 2).[0m +353.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289324 ms (missed cycles : 3).[0m +354.07sINFOobjective_server_nodeObjective preemption by a new Objective goal requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +354.07sINFOros2_control_nodeGot request to cancel goal[0m ×2 +354.07sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 +354.09sERRORobjective_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: 1786074039.62799430 seconds +354.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786074039.66492677 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +354.56sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). +354.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006678 ms (missed cycles : 3).[0m +355.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.160173 ms (missed cycles : 2).[0m +356.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.882811 ms (missed cycles : 3).[0m +357.77sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________________________________________________________________X] +357.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589426 ms (missed cycles : 3).[0m +358.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585643 ms (missed cycles : 3).[0m +360.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.119905 ms (missed cycles : 2).[0m +361.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.516440 ms (missed cycles : 3).[0m +362.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812572 ms (missed cycles : 3).[0m +363.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469459 ms (missed cycles : 3).[0m +364.21sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. +364.23sERRORobjective_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: 1786074049.76868677 seconds +364.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522883 ms (missed cycles : 3).[0m +364.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786074050.32476830 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +365.19sINFOobjective_server_nodeFound path in 0 iterations (9.95e-07 s). +365.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.299360 ms (missed cycles : 3).[0m +366.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223170 ms (missed cycles : 4).[0m +367.41sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] +367.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496056 ms (missed cycles : 3).[0m +368.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857734 ms (missed cycles : 3).[0m +369.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344357 ms (missed cycles : 3).[0m +370.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.768560 ms (missed cycles : 3).[0m +372.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460794 ms (missed cycles : 3).[0m +373.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784674 ms (missed cycles : 2).[0m +374.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924773 ms (missed cycles : 3).[0m +375.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.136506 ms (missed cycles : 3).[0m +376.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844351 ms (missed cycles : 3).[0m +377.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.270955 ms (missed cycles : 2).[0m +378.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802910 ms (missed cycles : 2).[0m +379.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.878367 ms (missed cycles : 2).[0m +380.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.855592 ms (missed cycles : 5).[0m +381.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240085 ms (missed cycles : 2).[0m +382.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123620 ms (missed cycles : 2).[0m +383.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.045417 ms (missed cycles : 4).[0m +384.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.354563 ms (missed cycles : 5).[0m +385.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905802 ms (missed cycles : 3).[0m +386.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.267011 ms (missed cycles : 4).[0m +387.73sINFOros2_control_nodeMuJoCo sim: 1.35% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +388.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979260 ms (missed cycles : 3).[0m +389.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938352 ms (missed cycles : 3).[0m +390.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701065 ms (missed cycles : 2).[0m +391.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476828 ms (missed cycles : 2).[0m +392.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.672043 ms (missed cycles : 4).[0m +393.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232533 ms (missed cycles : 4).[0m +394.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.259812 ms (missed cycles : 4).[0m +395.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.399666 ms (missed cycles : 5).[0m +395.80sINFOobjective_server_nodePlanning for 42 path waypoints. +396.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988616 ms (missed cycles : 2).[0m +397.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.687293 ms (missed cycles : 3).[0m +398.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.869217 ms (missed cycles : 3).[0m +399.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.204622 ms (missed cycles : 3).[0m +400.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.896433 ms (missed cycles : 2).[0m +401.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103410 ms (missed cycles : 3).[0m +402.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307388 ms (missed cycles : 2).[0m +403.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.644918 ms (missed cycles : 3).[0m +404.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.267910 ms (missed cycles : 5).[0m +405.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.487646 ms (missed cycles : 3).[0m +406.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460799 ms (missed cycles : 3).[0m +408.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.778189 ms (missed cycles : 2).[0m +409.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.748006 ms (missed cycles : 3).[0m +410.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.126304 ms (missed cycles : 4).[0m +411.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.556779 ms (missed cycles : 2).[0m +412.21sINFOobjective_server_nodePlanning for 35 path waypoints. +412.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.048828 ms (missed cycles : 3).[0m +413.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730951 ms (missed cycles : 3).[0m +414.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.506264 ms (missed cycles : 3).[0m +415.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.769287 ms (missed cycles : 3).[0m +416.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.451784 ms (missed cycles : 3).[0m +417.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.963850 ms (missed cycles : 3).[0m +418.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.031269 ms (missed cycles : 3).[0m +419.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859769 ms (missed cycles : 3).[0m +420.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488604 ms (missed cycles : 3).[0m +421.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.321518 ms (missed cycles : 4).[0m +422.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822903 ms (missed cycles : 2).[0m +423.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812119 ms (missed cycles : 3).[0m +424.72sINFOobjective_server_nodePlanning for 33 path waypoints. +424.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528913 ms (missed cycles : 3).[0m +425.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465844 ms (missed cycles : 3).[0m +426.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161585 ms (missed cycles : 2).[0m +427.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.461713 ms (missed cycles : 2).[0m +428.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.993433 ms (missed cycles : 3).[0m +430.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.781443 ms (missed cycles : 3).[0m +431.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993269 ms (missed cycles : 3).[0m +432.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.121201 ms (missed cycles : 3).[0m +433.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.596081 ms (missed cycles : 2).[0m +434.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.362633 ms (missed cycles : 3).[0m +435.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923355 ms (missed cycles : 2).[0m +436.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.089516 ms (missed cycles : 3).[0m +436.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786074122.16492200 seconds +437.18sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786074122.72145820 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +437.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.871261 ms (missed cycles : 3).[0m +438.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815415 ms (missed cycles : 3).[0m +439.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697308 ms (missed cycles : 3).[0m +440.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.560598 ms (missed cycles : 3).[0m +441.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074127.03158236 seconds +441.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087084 ms (missed cycles : 3).[0m +442.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074127.59326577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +442.44sINFOobjective_server_nodeFound path in 0 iterations (3.9e-07 s). +442.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.015615 ms (missed cycles : 2).[0m +443.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106009 ms (missed cycles : 4).[0m +444.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936842 ms (missed cycles : 3).[0m +446.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545055 ms (missed cycles : 3).[0m +447.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514076 ms (missed cycles : 2).[0m +447.73sINFOros2_control_nodeMuJoCo sim: 1.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +448.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.278983 ms (missed cycles : 4).[0m +449.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070118 ms (missed cycles : 3).[0m +450.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215449 ms (missed cycles : 2).[0m +451.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308886 ms (missed cycles : 2).[0m +452.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950846 ms (missed cycles : 3).[0m +453.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187601 ms (missed cycles : 2).[0m +454.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047991 ms (missed cycles : 3).[0m +455.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.843382 ms (missed cycles : 2).[0m +456.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966745 ms (missed cycles : 2).[0m +458.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.585934 ms (missed cycles : 3).[0m +459.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.180259 ms (missed cycles : 2).[0m +460.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.851508 ms (missed cycles : 3).[0m +461.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845140 ms (missed cycles : 3).[0m +462.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.785761 ms (missed cycles : 4).[0m +463.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989426 ms (missed cycles : 3).[0m +464.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956299 ms (missed cycles : 3).[0m +465.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.426253 ms (missed cycles : 2).[0m +466.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284254 ms (missed cycles : 4).[0m +467.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.849840 ms (missed cycles : 4).[0m +468.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562771 ms (missed cycles : 3).[0m +469.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049977 ms (missed cycles : 2).[0m +470.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.200883 ms (missed cycles : 2).[0m +471.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.694520 ms (missed cycles : 2).[0m +472.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.591957 ms (missed cycles : 4).[0m +474.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.392799 ms (missed cycles : 5).[0m +475.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479166 ms (missed cycles : 4).[0m +476.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.876611 ms (missed cycles : 3).[0m +477.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949202 ms (missed cycles : 3).[0m +478.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.683174 ms (missed cycles : 4).[0m +479.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.092832 ms (missed cycles : 3).[0m +480.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697117 ms (missed cycles : 2).[0m +481.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.713643 ms (missed cycles : 2).[0m +482.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.713280 ms (missed cycles : 3).[0m +483.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936445 ms (missed cycles : 3).[0m +484.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.992484 ms (missed cycles : 3).[0m +485.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968828 ms (missed cycles : 3).[0m +487.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.284970 ms (missed cycles : 4).[0m +488.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977977 ms (missed cycles : 3).[0m +489.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092937 ms (missed cycles : 4).[0m +490.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982689 ms (missed cycles : 3).[0m +491.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.514470 ms (missed cycles : 4).[0m +492.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.618304 ms (missed cycles : 4).[0m +493.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.605275 ms (missed cycles : 4).[0m +494.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833444 ms (missed cycles : 2).[0m +495.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928069 ms (missed cycles : 3).[0m +496.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392836 ms (missed cycles : 3).[0m +497.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755631 ms (missed cycles : 2).[0m +498.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786074184.04339862 seconds +498.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.715335 ms (missed cycles : 3).[0m +499.07sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786074184.60819459 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +499.48sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). +499.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.956221 ms (missed cycles : 3).[0m +501.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.942434 ms (missed cycles : 3).[0m +502.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462281 ms (missed cycles : 2).[0m +503.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.279076 ms (missed cycles : 2).[0m +503.88sINFOobjective_server_nodeFound path in 0 iterations (3.84e-07 s). +503.91sINFOobjective_server_nodePath shortcutter: [X__________________X] +503.95sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). +504.00sINFOobjective_server_nodePath shortcutter: [X_____________________X] +504.04sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). +504.10sINFOobjective_server_nodePath shortcutter: [X_________________________X] +504.14sINFOobjective_server_nodeFound path in 0 iterations (1.81e-06 s). +504.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.890789 ms (missed cycles : 3).[0m +504.31sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] +504.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). +504.81sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________X] +504.92sINFOobjective_server_nodeFound path in 29 iterations (0.0538088 s). +505.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] +505.26sINFOobjective_server_nodeFound path in 0 iterations (3.06e-07 s). +505.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.978691 ms (missed cycles : 3).[0m +505.78sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] +505.85sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). +506.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] +506.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291426 ms (missed cycles : 2).[0m +506.58sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector +507.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075242 ms (missed cycles : 2).[0m +507.74sINFOros2_control_nodeMuJoCo sim: 1.34% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m +508.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047234 ms (missed cycles : 3).[0m +509.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.755266 ms (missed cycles : 2).[0m +510.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033592 ms (missed cycles : 2).[0m +511.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.475818 ms (missed cycles : 2).[0m +512.58sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786074198.12304640 seconds +512.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168451 ms (missed cycles : 2).[0m +513.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786074198.71513247 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +513.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786074199.24526978 seconds +514.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024882 ms (missed cycles : 2).[0m +514.26sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786074199.79861617 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. +514.96sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786074200.49873638 seconds +515.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.469375 ms (missed cycles : 3).[0m +515.20sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) +516.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750401 ms (missed cycles : 2).[0m +517.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.481688 ms (missed cycles : 3).[0m +518.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939850 ms (missed cycles : 3).[0m +519.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724690 ms (missed cycles : 3).[0m +520.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671455 ms (missed cycles : 3).[0m +521.12sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.12sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.13sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.13sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.13sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.14sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.14sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.15sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.15sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] +521.17sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.17sERRORweb_video_auth_proxy-35process has died [pid 9563, 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']. +521.18sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.19sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.19sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.20sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] +521.23sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.24sERRORweb_bridge_auth_proxy-34process has died [pid 9562, 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']. +521.24sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.25sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.26sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.26sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.26sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.27sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.27sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.28sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.28sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.28sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.29sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' +521.30sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] +521.33sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] +521.36sINFOvideo_server-33process has finished cleanly [pid 9561] +521.37sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] +521.40sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] +521.44sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] +521.47sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] +521.50sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] +521.54sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] +521.57sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] +521.61sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] +521.63sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9560] +521.65sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] +521.67sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system +521.69sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] +521.72sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] +521.74sINFOui_teleop_bridge-30process has finished cleanly [pid 9558] +521.77sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] +521.78sINFOcomponent_container_mt-28process has finished cleanly [pid 9556] +521.80sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] +521.80sINFOexecute_objective_bridge-29process has finished cleanly [pid 9557] +521.82sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] +521.84sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] +521.85sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9553] +521.87sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] +521.87sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9550] +521.90sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] +521.91sINFOcomponent_container_mt-27process has finished cleanly [pid 9555] +521.93sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] +521.93sINFOwaypoint_manager_node-23process has finished cleanly [pid 9549] +521.95sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] +521.96sINFOparameter_manager_node-22process has finished cleanly [pid 9548] +521.98sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] +521.98sINFOobjective_server_node_main-26process has finished cleanly [pid 9554] +521.98sINFOvideo_server2026/08/07 03:43:26 INF shutting down gracefully +521.98sINFOvideo_server2026/08/07 03:43:26 INF [WebRTC] closing +521.98sINFOvideo_server2026/08/07 03:43:26 INF [RTSP] closing +521.98sINFOvideo_server2026/08/07 03:43:26 INF waiting for running hooks +521.98sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m +521.98sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m +521.98sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×2 +521.98sINFOcomponent_container_mtStopping planning scene monitor[0m +521.98sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m +521.99sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +521.99sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system +521.99sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m +521.99sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +521.99sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×4 +521.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252987 ms (missed cycles : 2).[0m +521.99sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m +521.99sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m +522.00sINFOmove_groupDeleting MoveItCpp[0m +522.00sINFOmove_groupStopping world geometry monitor[0m +522.00sINFOmove_groupStopping planning scene monitor[0m +522.00sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m +522.00sINFOros2_control_nodeShutdown request received....[0m +522.00sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m +522.00sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m +522.00sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m +522.00sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m +522.00sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m +522.00sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m +522.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m +522.00sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m +522.00sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m +522.00sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m +522.00sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m +522.00sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m +522.00sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m +522.00sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m +522.00sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m +522.00sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m +522.00sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m +522.00sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m +522.00sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m +522.00sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m +522.00sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m +522.00sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m +522.00sINFOros2_control_nodeShutting down the controller manager.[0m +522.00sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m +522.00sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×2 +522.00sERRORodom_qos_relay.pyTraceback (most recent call last): +522.00sINFOodom_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> +522.01sINFOodom_qos_relay.pymain() +522.01sINFOodom_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 +522.01sINFOodom_qos_relay.pyrclpy.spin(node) +522.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin +522.01sINFOodom_qos_relay.pyexecutor.spin_once() +522.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once +522.01sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) +522.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl +522.01sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( +522.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +522.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks +522.01sINFOodom_qos_relay.pyreturn next(self._cb_iter) +522.01sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ +522.01sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks +522.01sINFOodom_qos_relay.pyraise ExternalShutdownException() +522.01sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException +522.01sINFOobjective_server_node[2026-08-07 03:43:27.423] [moveit_pro_license] [info] +522.01sINFOobjective_server_node* Application has successfully terminated +522.01sINFOros2_control_nodeAsync messages lost 0[0m ×2 +522.01sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 +522.01sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×2 +522.01sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system +522.02sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9439] +522.05sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9438] +522.06sINFOmove_group-21process has finished cleanly [pid 9547] +522.13sINFOstatic_transform_publisher-4process has finished cleanly [pid 9435] +522.13sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9437] +522.16sINFOstatic_transform_publisher-3process has finished cleanly [pid 9434] +522.16sERRORodom_qos_relay.py-5process has died [pid 9436, 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']. +522.21sERRORcomponent_container_isolated-2process has died [pid 9433, 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_8umwuh4y --params-file /tmp/launch_params_l87e1scg -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +523.07sERRORcomponent_container_isolated-1process has died [pid 9432, 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_8umwuh4y --params-file /tmp/launch_params_k5_3fn9d -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. +523.43sINFOros2_control_node-9process has finished cleanly [pid 9440] +524.43sINFOweb_bridge-31process has finished cleanly [pid 9559] +524.43sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system +532.82sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-07-03-43-34-976275-9e5229b5b747-10514 ×2 +546.63sINFOstatic_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' +546.63sINFOstatic_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' +546.74sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. +546.76sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. +546.76sINFOcontroller_managerupdate rate is 600 Hz +546.76sINFOcontroller_managerOverruns handling is : enabled +546.76sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 +546.76sWARNcontroller_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. +546.87sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so +546.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so +546.90sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +546.90sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> +546.92sINFOdual_laser_mergerTarget Frame: ridgeback_base_link +546.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +546.94sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> +546.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628853 ms (missed cycles : 2). +546.97sINFOcontroller_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. +546.98sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so +547.00sINFOros2_control_node-9process started with pid [10572] ×2 +547.00sINFOmove_group-21process started with pid [10661] ×2 +547.00sINFOparameter_manager_node-22process started with pid [10662] ×2 +547.00sINFOwaypoint_manager_node-23process started with pid [10663] ×2 +547.00sINFOmove_joint_resampler_node-24process started with pid [10682] ×2 +547.00sINFOmove_end_effector_resampler_node-25process started with pid [10683] ×2 +547.00sINFOobjective_server_node_main-26process started with pid [10684] ×2 +547.00sINFOcomponent_container_mt-27process started with pid [10685] ×2 +547.00sINFOcomponent_container_mt-28process started with pid [10686] ×2 +547.00sINFOexecute_objective_bridge-29process started with pid [10687] ×2 +547.00sINFOui_teleop_bridge-30process started with pid [10688] ×2 +547.00sINFOweb_bridge-31process started with pid [10689] ×2 +547.00sINFOtf2_web_republisher_node-32process started with pid [10690] ×2 +547.00sINFOvideo_server-33process started with pid [10691] ×2 +547.00sINFOweb_bridge_auth_proxy-34process started with pid [10694] ×2 +547.00sINFOweb_video_auth_proxy-35process started with pid [10695] ×2 +547.03sINFOcomponent_container_isolated-1process started with pid [10564] ×2 +547.03sINFOcomponent_container_isolated-2process started with pid [10565] ×2 +547.03sINFOstatic_transform_publisher-3process started with pid [10566] ×2 +547.03sINFOstatic_transform_publisher-4process started with pid [10567] ×2 +547.03sINFOodom_qos_relay.py-5process started with pid [10568] ×2 +547.03sINFOforward_stereo_publisher.py-6process started with pid [10569] ×2 +547.03sINFOscan_to_scan_filter_chain-7process started with pid [10570] ×2 +547.03sINFOscan_to_scan_filter_chain-8process started with pid [10571] ×2 +547.03sINFOros2-10process started with pid [10650] ×2 +547.03sINFOros2-11process started with pid [10651] ×2 +547.03sINFOros2-12process started with pid [10652] ×2 +547.03sINFOros2-13process started with pid [10653] ×2 +547.03sINFOros2-14process started with pid [10654] ×2 +547.03sINFOros2-15process started with pid [10655] ×2 +547.03sINFOros2-16process started with pid [10656] ×2 +547.03sINFOros2-17process started with pid [10657] ×2 +547.03sINFOros2-18process started with pid [10658] ×2 +547.03sINFOros2-19process started with pid [10659] ×2 +547.03sINFOros2-20process started with pid [10660] ×2 +547.09sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> +547.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> +547.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +547.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> +547.12sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so +547.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.628853 ms (missed cycles : 2).[0m ×2 +547.14sINFOcontroller_serverCreating controller server +547.14sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +547.14sINFOmap_serverCreating +547.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so +547.18sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +547.18sINFOlocal_costmap.local_costmapCreating Costmap +547.19sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +547.19sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> +547.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so +547.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +547.22sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> +547.24sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. +547.27sINFOsmoother_serverCreating smoother server +547.28sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so +547.28sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +547.28sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> +547.28sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +547.29sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +547.29sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +547.31sINFOplanner_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. +547.31sINFOlifecycle_manager_localizationCreating +547.33sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m +547.34sINFOplanner_serverCreating +547.35sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m +547.35sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m +547.35sINFOmap_serverConfiguring +547.39sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so +547.39sINFOglobal_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. +547.41sINFOglobal_costmap.global_costmapCreating Costmap +547.43sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +547.45sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m +547.45sINFOamclConfiguring +547.45sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m +547.45sINFOmap_serverActivating +547.45sINFOmap_serverCreating bond (map_server) to lifecycle manager. +547.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so +547.46sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +547.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> +547.46sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> +547.49sINFObehavior_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. +547.54sINFOcontroller_managerReceived robot description from topic. +547.54sINFOrobot_state_publisherRobot initialized +547.54sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. +547.56sINFOlifecycle_manager_localizationServer map_server connected with bond. +547.56sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m +547.56sINFOamclActivating +547.56sINFOamclSubscribed to initial_pose_topic: /initialpose +547.56sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) +547.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so +547.57sINFOamclSubscribed to map_topic: /map +547.58sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so +547.59sINFOamclSubscribed to scan_topic: /scan_merged +547.59sINFOamclCreated reinitialize_global_localization service +547.59sINFOamclCreated request_nomotion_update service +547.59sINFOcontroller_managerLoading hardware 'ur_mujoco_control' +547.59sINFOamclA new map was received +547.59sINFOamclInitializing particle filter instance +547.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +547.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> +547.64sINFObt_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. +547.64sWARNlaser_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. +547.64sWARNlaser_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. +547.64sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +547.64sINFOvideo_server2026/08/07 03:43:53 INF MediaMTX v1.19.3, linux, amd64 ×2 +547.64sINFOvideo_server2026/08/07 03:43:53 INF configuration loaded from /tmp/moveit-webrtc-wk4y_6wa/mediamtx.yml ×2 +547.64sINFOvideo_server2026/08/07 03:43:53 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 +547.64sINFOvideo_server2026/08/07 03:43:53 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 +547.65sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +547.68sINFObt_navigatorCreating +547.68sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so +547.69sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +547.69sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> +547.71sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so +547.73sINFOwaypoint_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. +547.74sINFOwaypoint_followerCreating +547.75sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so +547.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +547.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> +547.78sINFOvelocity_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. +547.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so +547.80sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +547.80sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> +547.80sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.654492 seconds +547.80sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... +547.80sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint +547.81sINFOmove_groupLoaded robot model in 0.654492 seconds[0m ×2 +547.84sINFOlifecycle_manager_navigationCreating +547.86sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m +547.88sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m +547.88sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m +547.88sINFOcontroller_serverConfiguring controller interface +547.88sINFOcontroller_servergetting progress checker plugins.. +547.89sINFOcontroller_servergetting goal checker plugins.. +547.89sINFOcontroller_serverController frequency set to 20.0000Hz +547.89sINFOlocal_costmap.local_costmapConfiguring +547.90sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" +547.91sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear +547.97sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" +547.97sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" +547.97sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" +547.99sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker +547.99sINFOcontroller_serverController Server has progress_checker progress checkers available. +548.00sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker +548.00sINFOcontroller_serverController Server has general_goal_checker goal checkers available. +548.01sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController +548.02sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON +548.03sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. +548.03sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic +548.04sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. +548.04sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic +548.04sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. +548.04sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic +548.04sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled +548.04sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic +548.04sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight +548.04sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic +548.04sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic +548.05sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference +548.05sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic +548.06sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. +548.06sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic +548.07sINFOcontroller_serverOptimizer reset ×2 +548.09sINFOcontroller_serverController Server has FollowPath controllers available. +548.13sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m +548.13sINFOsmoother_serverConfiguring smoother server +548.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260094 ms (missed cycles : 2). +548.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.260094 ms (missed cycles : 2).[0m ×2 +548.14sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother +548.15sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. +548.17sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m +548.18sINFOplanner_serverConfiguring +548.18sINFOglobal_costmap.global_costmapConfiguring +548.18sINFOglobal_costmap.global_costmapUsing plugin "static_layer" +548.18sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability +548.18sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" +548.18sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" +548.18sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear +548.22sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" +548.22sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" +548.22sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" +548.25sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner +548.25sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner +548.26sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix +548.26sINFOplanner_serverPlanner Server has GridBased planners available. +548.29sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m +548.29sINFObehavior_serverConfiguring +548.29sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin +548.29sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp +548.30sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading +548.30sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop +548.31sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait +548.33sINFObehavior_serverConfiguring spin +548.35sINFObehavior_serverConfiguring backup +548.36sINFObehavior_serverConfiguring drive_on_heading +548.37sINFObehavior_serverConfiguring assisted_teleop +548.38sINFOamclParticle filter initialization completed +548.38sINFOamclInitializing particles from estimated pose and covariance +548.38sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 +548.39sINFObehavior_serverConfiguring wait +548.39sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m +548.40sINFObt_navigatorConfiguring +548.41sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator +548.42sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +548.42sWARNbt_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 +548.44sWARNmove_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. +548.44sWARNmove_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. +548.45sWARNmove_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. +548.45sWARNmove_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. +548.46sWARNmove_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. +548.47sINFOlifecycle_manager_localizationServer amcl connected with bond. +548.47sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m +548.47sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m +548.47sWARNmove_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. +548.47sWARNmove_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. +548.47sWARNmove_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. +548.47sWARNmove_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. +548.47sWARNmove_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. +548.49sINFOamclThe bond connection to the lifecycle manager is now fully formed +548.65sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator +548.73sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m +548.73sINFOwaypoint_followerConfiguring +548.76sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint +548.76sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m +548.77sINFOvelocity_smootherConfiguring velocity smoother +548.78sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m +548.78sINFOcontroller_serverActivating +548.78sINFOlocal_costmap.local_costmapActivating +548.78sINFOlocal_costmap.local_costmapChecking transform +548.78sINFOlocal_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. ×9 +548.83sINFOmove_group[2026-08-07 03:43:54.366] [moveit_pro_license] [info] ×2 +548.85sINFOwaypoint_manager_nodeLoaded robot model in 0.488323 seconds[0m ×2 +549.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951779 ms (missed cycles : 4). +549.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.951779 ms (missed cycles : 4).[0m ×2 +549.37sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' +549.38sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' +549.62sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... +549.63sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 +549.63sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states +549.63sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' +549.64sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects +549.64sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. +549.64sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. +549.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor +549.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' +549.65sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. +549.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' +549.65sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry +549.66sWARNwaypoint_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. +549.67sWARNwaypoint_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. +549.67sWARNwaypoint_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. +549.67sWARNwaypoint_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. +549.67sWARNwaypoint_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. +549.67sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.68sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_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. +549.69sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +550.00sINFOwaypoint_manager_node[2026-08-07 03:43:55.534] [moveit_pro_license] [info] ×2 +550.46sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' +550.46sINFOcontroller_managerActivating component 'ur_mujoco_control'. +550.46sINFOcontroller_managerRegistering statistics for : ur_mujoco_control +550.46sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... +550.50sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +550.50sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +550.63sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +550.63sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' +550.68sINFOobjective_server_node[2026-08-07 03:43:56.218] [moveit_pro_license] [info] ×2 +550.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172731 ms (missed cycles : 3). +550.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.172731 ms (missed cycles : 3).[0m ×2 +550.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +550.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> +550.73sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +550.73sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> +550.76sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' +550.76sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' +550.77sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' +550.77sINFOstreaming_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) +550.77sINFOobjective_server_nodeLoaded robot model in 0.0290538 seconds[0m ×2 +550.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so +550.78sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +550.78sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +550.84sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m +550.84sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' +550.98sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +550.98sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> +551.00sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> +551.07sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +551.07sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> +551.11sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so +551.24sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +551.24sWARNobjective_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. +551.29sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +551.29sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> +551.30sINFOros2_control_node[2026-08-07 03:43:56.836] [info] Controller state will be published at 20 Hz. ×2 +551.30sINFOros2_control_node[2026-08-07 03:43:56.837] [info] JointVelocityController 'on_configure' succeeded. ×2 +551.67sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' +551.67sINFOcontroller_managerLoading controller 'joint_velocity_controller' +551.67sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +551.67sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +551.67sINFOros2-20process has finished cleanly [pid 10660] ×2 +551.71sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786074236.125 for reason 'discarding message because the queue is full' +551.71sINFOcomponent_container_mtLoaded robot model in 0.399579 seconds[0m ×2 +551.73sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m +551.73sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' +551.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989701 ms (missed cycles : 3). +551.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989701 ms (missed cycles : 3).[0m ×2 +551.77sINFOmove_groupMoveGroup debug mode is ON +551.85sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. +551.92sINFOmove_group.moveit.ros.move_group.executable
********************************************************
* MoveGroup using:
* - apply_planning_scene_service
* - clear_octomap_service
* - get_group_urdf
* - load_geometry_from_file
* - get_planning_scene_service
* - kinematics_service
* - save_geometry_to_file
* - GetPlanningGroups
* - URDFPlanningSceneCapability
********************************************************
+552.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.23sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.24sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.25sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. +552.26sINFOros2_control_node[2026-08-07 03:43:57.795] [info] Controller state will be published at 20 Hz. ×2 +552.26sINFOros2_control_node[2026-08-07 03:43:57.796] [info] JointVelocityController 'on_configure' succeeded. ×2 +552.49sINFOcomponent_container_mt[2026-08-07 03:43:58.033] [moveit_pro_license] [info] ×2 +552.59sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' +552.59sINFOcontroller_managerLoading controller 'vacuum_gripper' +552.60sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +552.60sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +552.61sINFOros2-19process has finished cleanly [pid 10659] ×2 +552.62sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller +552.65sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m +552.65sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' +552.65sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. +552.66sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] +552.66sINFOcontroller_managerSuccessfully switched controllers! ×7 +552.67sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m +552.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588425 ms (missed cycles : 3). +552.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588425 ms (missed cycles : 3).[0m ×2 +553.00sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' +553.00sINFOcontroller_managerLoading controller 'joint_state_broadcaster' +553.01sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +553.01sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +553.01sINFOros2-14process has finished cleanly [pid 10654] ×2 +553.07sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m +553.07sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' +553.07sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. +553.09sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] +553.09sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m +553.28sINFOlocal_costmap.local_costmapstart +553.30sINFOamclParticle filter update iteration stats: 2292 particles 723 points - 3.483ms +553.39sWARNcontroller_serverParameter controller_server.verbose not found +553.39sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. +553.39sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY +553.49sINFOlifecycle_manager_navigationServer controller_server connected with bond. +553.49sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m +553.49sINFOsmoother_serverActivating +553.49sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. +553.60sINFOlifecycle_manager_navigationServer smoother_server connected with bond. +553.60sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m +553.60sINFOplanner_serverActivating +553.60sINFOglobal_costmap.global_costmapActivating +553.60sINFOglobal_costmap.global_costmapChecking transform +553.60sINFOglobal_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 1786074239.089849 but the earliest data is at time 1786074239.724631, when looking up transform from frame [ridgeback_base_link] to frame [map] +553.62sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' +553.62sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' +553.62sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +553.62sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +553.63sINFOros2-12process has finished cleanly [pid 10652] ×2 +553.67sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m +553.68sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' +553.68sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] +553.68sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m +553.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450092 ms (missed cycles : 2). +553.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.450092 ms (missed cycles : 2).[0m ×2 +554.02sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +554.02sINFOcontroller_managerLoading controller 'platform_velocity_controller' +554.03sINFOros2-11process has finished cleanly [pid 10651] ×2 +554.03sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +554.03sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +554.09sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m +554.09sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' +554.09sINFOplatform_velocity_controllerconfigure successful +554.10sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] +554.10sINFOglobal_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 1786074239.599808 but the earliest data is at time 1786074239.724631, when looking up transform from frame [ridgeback_base_link] to frame [map] +554.10sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m +554.21sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786074238.625 for reason 'the timestamp on the message is earlier than all the data in the transform cache' +554.45sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +554.45sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' +554.46sINFOros2-13process has finished cleanly [pid 10653] ×2 +554.53sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +554.53sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +554.59sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m +554.60sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' +554.60sINFOglobal_costmap.global_costmapstart +554.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395418 ms (missed cycles : 3). +554.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.395418 ms (missed cycles : 3).[0m ×2 +554.95sINFOros2_control_node[2026-08-07 03:44:00.493] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +554.96sINFOros2_control_node[2026-08-07 03:44:00.495] [info] Controller state will be published at 10 Hz. ×2 +554.96sINFOros2_control_node[2026-08-07 03:44:00.496] [info] VelocityForceController 'on_configure' succeeded. ×2 +555.30sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' +555.30sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' +555.31sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +555.31sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +555.33sINFOros2-18process has finished cleanly [pid 10658] ×2 +555.37sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m +555.37sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' +555.38sINFOforce_torque_sensor_broadcasterconfigure successful +555.39sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] +555.39sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m +555.65sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner +555.65sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. +555.73sINFOros2-10process has finished cleanly [pid 10650] ×2 +555.75sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' +555.75sINFOcontroller_managerLoading controller 'velocity_force_controller' +555.75sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +555.76sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +555.76sINFOlifecycle_manager_navigationServer planner_server connected with bond. +555.76sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m +555.76sINFObehavior_serverActivating +555.76sINFObehavior_serverActivating spin +555.76sINFObehavior_serverActivating backup +555.76sINFObehavior_serverActivating drive_on_heading +555.76sINFObehavior_serverActivating assisted_teleop +555.76sINFObehavior_serverActivating wait +555.76sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. +555.82sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m +555.82sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' +555.87sINFOlifecycle_manager_navigationServer behavior_server connected with bond. +555.87sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m +555.87sINFObt_navigatorActivating +555.93sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. +556.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305205 ms (missed cycles : 2). +556.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305205 ms (missed cycles : 2).[0m ×2 +556.04sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. +556.04sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m +556.04sINFOwaypoint_followerActivating +556.04sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. +556.14sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. +556.14sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m +556.15sINFOvelocity_smootherActivating +556.15sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. +556.24sINFOros2_control_node[2026-08-07 03:44:01.779] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 +556.24sINFOros2_control_node[2026-08-07 03:44:01.781] [info] Controller state will be published at 10 Hz. ×2 +556.24sINFOros2_control_node[2026-08-07 03:44:01.782] [info] VelocityForceController 'on_configure' succeeded. ×2 +556.25sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. +556.25sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m +556.25sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m +556.59sINFOros2-17process has finished cleanly [pid 10657] ×2 +556.61sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' +556.61sINFOcontroller_managerLoading controller 'joint_trajectory_controller' +556.62sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +556.62sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +556.72sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m +556.74sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' +556.74sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. +556.74sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. +556.74sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed +556.74sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. +556.74sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. +557.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382835 ms (missed cycles : 3). +557.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382835 ms (missed cycles : 3).[0m ×2 +557.12sINFOros2-16process has finished cleanly [pid 10656] ×2 +557.13sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' +557.13sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' +557.13sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b +557.13sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_o8u21tvk --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_3db21h3p --params-file /tmp/launch_params_jl1bll7b [0m ×2 +557.20sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m +557.20sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' +557.20sINFOplatform_velocity_controller_nav2configure successful +557.62sINFOros2-15process has finished cleanly [pid 10655] ×2 +558.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532747 ms (missed cycles : 3). +558.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532747 ms (missed cycles : 3).[0m ×2 +559.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). +559.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 +560.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). +560.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 +560.50sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 +561.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). +561.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 +562.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). +562.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 +562.59sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +562.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... +562.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. +562.60sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 +563.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +563.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 +563.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). +563.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 +563.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +563.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 +564.46sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 +564.49sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] +564.49sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! +564.49sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] +564.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. +564.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] +564.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] +564.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 +564.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). +564.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 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 | 72.2s | 3 errors · 233 warnings · 214 info |
+ 0.00sINFOamclParticle filter update iteration stats: 4787 particles 723 points - 8.081ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449056 ms (missed cycles : 5). + 0.50sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 8.685ms + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449056 ms (missed cycles : 5).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 3513 particles 723 points - 4.694ms + 1.50sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 4.166ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476381 ms (missed cycles : 3). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476381 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 2868 particles 723 points - 4.852ms + 2.50sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 3.662ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553988 ms (missed cycles : 3). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553988 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 4.122ms + 3.50sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.176ms + 3.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968096 ms (missed cycles : 3). + 3.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968096 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 3.831ms + 4.01sINFOobjective_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 + 4.02sINFOjoint_trajectory_controllerGot request to cancel goal + 4.02sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.02sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.02sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.03sERRORobjective_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: 1786074457.38109779 seconds ×3 + 4.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.499ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.145ms + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786074457.94195676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.335ms + 4.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.61sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.634ms + 4.97sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656241 ms (missed cycles : 2). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656241 ms (missed cycles : 2).[0m ×2 + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.275ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms + 6.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078023 ms (missed cycles : 4). + 6.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078023 ms (missed cycles : 4).[0m ×2 + 6.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.878ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 6.64sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.961ms + 6.70sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.70sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.70sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823168 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.823168 ms (missed cycles : 2).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 4756 particles 723 points - 6.583ms + 7.60sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.741ms + 7.90sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 6.361ms + 8.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956964 ms (missed cycles : 4). + 8.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.956964 ms (missed cycles : 4).[0m ×2 + 8.30sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 3.820ms + 9.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318118 ms (missed cycles : 3). + 9.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318118 ms (missed cycles : 3).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 3.052ms + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173093 ms (missed cycles : 3). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173093 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1935 particles 723 points - 2.710ms + 10.69sINFOamclParticle filter update iteration stats: 1502 particles 723 points - 2.511ms + 11.19sINFOamclParticle filter update iteration stats: 1225 particles 723 points - 1.664ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867513 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867513 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.395ms + 12.19sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.747ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916874 ms (missed cycles : 4). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916874 ms (missed cycles : 4).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.509ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.306ms + 13.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681633 ms (missed cycles : 3). + 13.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.681633 ms (missed cycles : 3).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 14.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411312 ms (missed cycles : 3). + 14.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411312 ms (missed cycles : 3).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 15.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902302 ms (missed cycles : 5). + 15.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902302 ms (missed cycles : 5).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471993 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.471993 ms (missed cycles : 3).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802747 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802747 ms (missed cycles : 3).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms ×3 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.717ms + 18.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887989 ms (missed cycles : 3). + 18.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887989 ms (missed cycles : 3).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 19.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600549 ms (missed cycles : 3). + 19.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600549 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms ×2 + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027760 ms (missed cycles : 3). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027760 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 21.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860401 ms (missed cycles : 3). + 21.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860401 ms (missed cycles : 3).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483451 ms (missed cycles : 3). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.483451 ms (missed cycles : 3).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045026 ms (missed cycles : 2). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045026 ms (missed cycles : 2).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663191 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663191 ms (missed cycles : 3).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 26.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758695 ms (missed cycles : 3). + 26.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.758695 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544061 ms (missed cycles : 6). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.544061 ms (missed cycles : 6).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms ×2 + 28.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072614 ms (missed cycles : 3). + 28.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.072614 ms (missed cycles : 3).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365564 ms (missed cycles : 2). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365564 ms (missed cycles : 2).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156968 ms (missed cycles : 4). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.156968 ms (missed cycles : 4).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms ×2 + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066120 ms (missed cycles : 4). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.066120 ms (missed cycles : 4).[0m ×2 + 32.70sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 32.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.042356 ms (missed cycles : 7). + 32.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 10.042356 ms (missed cycles : 7).[0m ×2 + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.177ms + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789631 ms (missed cycles : 3). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789631 ms (missed cycles : 3).[0m ×2 + 33.97sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.97sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.32sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009159 ms (missed cycles : 4). + 34.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009159 ms (missed cycles : 4).[0m ×2 + 35.11sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.11sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396300 ms (missed cycles : 3). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.396300 ms (missed cycles : 3).[0m ×2 + 37.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730274 ms (missed cycles : 2). + 37.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730274 ms (missed cycles : 2).[0m ×2 + 37.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 37.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127936 ms (missed cycles : 3). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.127936 ms (missed cycles : 3).[0m ×2 + 39.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252033 ms (missed cycles : 3). + 39.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.252033 ms (missed cycles : 3).[0m ×2 + 39.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 39.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 40.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099817 ms (missed cycles : 4). + 40.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.099817 ms (missed cycles : 4).[0m ×2 + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 41.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 41.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811440 ms (missed cycles : 2). + 41.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811440 ms (missed cycles : 2).[0m ×2 + 42.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042839 ms (missed cycles : 3). + 42.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.042839 ms (missed cycles : 3).[0m ×2 + 43.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734223 ms (missed cycles : 3). + 43.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734223 ms (missed cycles : 3).[0m ×2 + 43.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836733 ms (missed cycles : 3). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836733 ms (missed cycles : 3).[0m ×2 + 45.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.400001 ms (missed cycles : 3).[0m ×2 + 46.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254034 ms (missed cycles : 3). + 46.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.254034 ms (missed cycles : 3).[0m ×2 + 46.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 47.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510098 ms (missed cycles : 3). + 47.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.523ms + 47.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510098 ms (missed cycles : 3).[0m ×2 + 48.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769422 ms (missed cycles : 4). + 48.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.769422 ms (missed cycles : 4).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.525ms + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833972 ms (missed cycles : 2). + 49.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833972 ms (missed cycles : 2).[0m ×2 + 49.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373986 ms (missed cycles : 4). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373986 ms (missed cycles : 4).[0m ×2 + 51.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 51.95sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 51.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570363 ms (missed cycles : 4). + 51.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.570363 ms (missed cycles : 4).[0m ×2 + 53.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913977 ms (missed cycles : 3). + 53.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913977 ms (missed cycles : 3).[0m ×2 + 54.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371522 ms (missed cycles : 3). + 54.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.371522 ms (missed cycles : 3).[0m ×2 + 55.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891831 ms (missed cycles : 3). + 55.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.891831 ms (missed cycles : 3).[0m ×2 + 56.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706230 ms (missed cycles : 3). + 56.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.706230 ms (missed cycles : 3).[0m ×2 + 56.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 57.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806235 ms (missed cycles : 2). + 57.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.806235 ms (missed cycles : 2).[0m ×2 + 57.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 58.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497167 ms (missed cycles : 3). + 58.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.497167 ms (missed cycles : 3).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633842 ms (missed cycles : 3). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633842 ms (missed cycles : 3).[0m ×2 + 59.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.049ms + 60.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 60.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248450 ms (missed cycles : 4). + 60.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.248450 ms (missed cycles : 4).[0m ×2 + 60.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 61.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433376 ms (missed cycles : 3). + 61.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.433376 ms (missed cycles : 3).[0m ×2 + 61.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 62.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075557 ms (missed cycles : 4). + 62.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075557 ms (missed cycles : 4).[0m ×2 + 62.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 63.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190016 ms (missed cycles : 3). + 63.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.190016 ms (missed cycles : 3).[0m ×2 + 63.78sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 64.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088783 ms (missed cycles : 2). + 64.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.088783 ms (missed cycles : 2).[0m ×2 + 65.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135820 ms (missed cycles : 3). + 65.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135820 ms (missed cycles : 3).[0m ×2 + 66.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448347 ms (missed cycles : 3). + 66.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448347 ms (missed cycles : 3).[0m ×2 + 68.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908340 ms (missed cycles : 2). + 68.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908340 ms (missed cycles : 2).[0m ×2 + 68.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 69.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410560 ms (missed cycles : 3). + 69.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410560 ms (missed cycles : 3).[0m ×2 + 69.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 70.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500295 ms (missed cycles : 4). + 70.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500295 ms (missed cycles : 4).[0m ×2 + 70.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 71.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653464 ms (missed cycles : 2). + 71.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653464 ms (missed cycles : 2).[0m ×2 + 71.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 71.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 72.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755693 ms (missed cycles : 3). + 72.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755693 ms (missed cycles : 3).[0m ×2 + 72.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 73.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779308 ms (missed cycles : 3). + 73.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779308 ms (missed cycles : 3).[0m ×2 + 73.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 74.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145033 ms (missed cycles : 2). + 74.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145033 ms (missed cycles : 2).[0m ×2 + 74.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 75.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243338 ms (missed cycles : 2). + 75.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243338 ms (missed cycles : 2).[0m ×2 + 76.20sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786074529.55210876 seconds ×3 + 76.27sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.95) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.27sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.50) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 76.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 76.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.316ms + 76.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125430 ms (missed cycles : 4). + 76.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125430 ms (missed cycles : 4).[0m ×2 + 76.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.522ms + 76.75sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786074530.10441422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 77.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.658ms + 77.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 77.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 77.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 78.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 78.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 78.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 79.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.5s | 185 warnings · 165 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: 1786074293.63424301 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786074294.19779444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (4.1905e-05 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.75sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.75sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.75sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.76sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786074297.43792534 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364860 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364860 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786074298.00407362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138355 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138355 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136283 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136283 ms (missed cycles : 2).[0m ×2 + 6.99sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050923 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050923 ms (missed cycles : 3).[0m ×2 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074410 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074410 ms (missed cycles : 3).[0m ×2 + 9.07sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 2.167ms + 9.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369394 ms (missed cycles : 3). + 9.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369394 ms (missed cycles : 3).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.777ms + 10.17sINFOamclParticle filter update iteration stats: 1140 particles 723 points - 1.544ms + 10.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522015 ms (missed cycles : 3). + 10.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522015 ms (missed cycles : 3).[0m ×2 + 10.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 11.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 11.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944794 ms (missed cycles : 3). + 11.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944794 ms (missed cycles : 3).[0m ×2 + 11.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms ×2 + 12.47sINFOros2_control_nodeMuJoCo sim: 0.20% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501209 ms (missed cycles : 3). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501209 ms (missed cycles : 3).[0m ×2 + 13.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 13.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 13.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037377 ms (missed cycles : 4). + 13.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.037377 ms (missed cycles : 4).[0m ×2 + 14.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 14.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 14.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083956 ms (missed cycles : 2). + 14.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.083956 ms (missed cycles : 2).[0m ×2 + 15.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 15.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655155 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.655155 ms (missed cycles : 3).[0m ×2 + 16.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 16.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231321 ms (missed cycles : 3). + 16.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231321 ms (missed cycles : 3).[0m ×2 + 17.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 17.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877255 ms (missed cycles : 3). + 18.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877255 ms (missed cycles : 3).[0m ×2 + 18.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 18.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 19.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.082ms + 19.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975594 ms (missed cycles : 3). + 19.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975594 ms (missed cycles : 3).[0m ×2 + 19.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 20.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 20.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885878 ms (missed cycles : 5). + 20.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.885878 ms (missed cycles : 5).[0m ×2 + 20.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 21.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495253 ms (missed cycles : 3). + 21.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495253 ms (missed cycles : 3).[0m ×2 + 21.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 22.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 22.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902679 ms (missed cycles : 3). + 22.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.902679 ms (missed cycles : 3).[0m ×2 + 22.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.530ms + 23.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921292 ms (missed cycles : 3). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.921292 ms (missed cycles : 3).[0m ×2 + 23.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 24.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms ×2 + 24.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261322 ms (missed cycles : 4). + 24.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.261322 ms (missed cycles : 4).[0m ×2 + 24.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 25.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272695 ms (missed cycles : 2). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.272695 ms (missed cycles : 2).[0m ×2 + 26.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 26.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980947 ms (missed cycles : 5). + 26.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.980947 ms (missed cycles : 5).[0m ×2 + 26.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 27.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 27.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354043 ms (missed cycles : 2). + 27.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354043 ms (missed cycles : 2).[0m ×2 + 27.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 28.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 28.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618557 ms (missed cycles : 4). + 28.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.618557 ms (missed cycles : 4).[0m ×2 + 28.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 29.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 29.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485778 ms (missed cycles : 3). + 29.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485778 ms (missed cycles : 3).[0m ×2 + 29.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 30.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 30.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796461 ms (missed cycles : 3). + 30.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796461 ms (missed cycles : 3).[0m ×2 + 30.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 31.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 31.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 31.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583083 ms (missed cycles : 3). + 31.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.583083 ms (missed cycles : 3).[0m ×2 + 32.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 32.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 32.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064317 ms (missed cycles : 2). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064317 ms (missed cycles : 2).[0m ×2 + 33.67sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 33.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923072 ms (missed cycles : 3). + 33.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.923072 ms (missed cycles : 3).[0m ×2 + 34.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 34.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512918 ms (missed cycles : 3). + 34.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.512918 ms (missed cycles : 3).[0m ×2 + 35.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.76sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282603 ms (missed cycles : 4). + 36.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282603 ms (missed cycles : 4).[0m ×2 + 37.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378511 ms (missed cycles : 3). + 37.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.378511 ms (missed cycles : 3).[0m ×2 + 37.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 38.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227890 ms (missed cycles : 3). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.227890 ms (missed cycles : 3).[0m ×2 + 39.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718757 ms (missed cycles : 2). + 39.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.718757 ms (missed cycles : 2).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945118 ms (missed cycles : 3). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945118 ms (missed cycles : 3).[0m ×2 + 40.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084302 ms (missed cycles : 4). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084302 ms (missed cycles : 4).[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803249 ms (missed cycles : 3). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.803249 ms (missed cycles : 3).[0m ×2 + 42.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443728 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443728 ms (missed cycles : 2).[0m ×2 + 44.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764328 ms (missed cycles : 3). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764328 ms (missed cycles : 3).[0m ×2 + 45.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393213 ms (missed cycles : 4). + 45.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.393213 ms (missed cycles : 4).[0m ×2 + 46.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027709 ms (missed cycles : 2). + 46.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027709 ms (missed cycles : 2).[0m ×2 + 47.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172914 ms (missed cycles : 2). + 47.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172914 ms (missed cycles : 2).[0m ×2 + 48.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321994 ms (missed cycles : 5). + 48.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321994 ms (missed cycles : 5).[0m ×2 + 49.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 49.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802469 ms (missed cycles : 4). + 49.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.802469 ms (missed cycles : 4).[0m ×2 + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333151 ms (missed cycles : 2). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.333151 ms (missed cycles : 2).[0m ×2 + 51.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080519 ms (missed cycles : 4). + 51.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.080519 ms (missed cycles : 4).[0m ×2 + 52.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.370ms + 52.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140130 ms (missed cycles : 2). + 52.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140130 ms (missed cycles : 2).[0m ×2 + 53.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079319 ms (missed cycles : 4). + 53.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.079319 ms (missed cycles : 4).[0m ×2 + 54.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198326 ms (missed cycles : 4). + 54.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.198326 ms (missed cycles : 4).[0m ×2 + 56.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444929 ms (missed cycles : 3). + 56.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.444929 ms (missed cycles : 3).[0m ×2 + 56.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 57.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019450 ms (missed cycles : 4). + 57.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019450 ms (missed cycles : 4).[0m ×2 + 58.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 58.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 60.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 60.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 61.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 61.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 61.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 61.54sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.54sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 61.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 61.97sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 62.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 62.35sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 62.38sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 62.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 63.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.2s | 182 warnings · 145 info |
+ 0.00sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.00sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.00sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.00sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.81sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 seconds ×3 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655694 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.655694 ms (missed cycles : 3).[0m ×2 + 8.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343353 ms (missed cycles : 3). + 8.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343353 ms (missed cycles : 3).[0m ×2 + 9.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.184ms + 9.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.861ms + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139413 ms (missed cycles : 4). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.139413 ms (missed cycles : 4).[0m ×2 + 10.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.070ms + 10.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.375ms + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199888 ms (missed cycles : 2). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199888 ms (missed cycles : 2).[0m ×2 + 11.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.820ms + 11.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.039ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773980 ms (missed cycles : 2). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773980 ms (missed cycles : 2).[0m ×2 + 12.18sINFOamclParticle filter update iteration stats: 4756 particles 723 points - 6.258ms + 12.68sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 5.394ms + 13.18sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 4.044ms + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908591 ms (missed cycles : 3). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.908591 ms (missed cycles : 3).[0m ×2 + 13.68sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 4.538ms + 14.18sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.166ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643144 ms (missed cycles : 2). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643144 ms (missed cycles : 2).[0m ×2 + 14.68sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 2.251ms + 15.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887768 ms (missed cycles : 4). + 15.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.887768 ms (missed cycles : 4).[0m ×2 + 15.49sINFOros2_control_nodeMuJoCo sim: 1.08% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 16.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470334 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470334 ms (missed cycles : 3).[0m ×2 + 16.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384163 ms (missed cycles : 3). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.384163 ms (missed cycles : 3).[0m ×2 + 17.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 18.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 18.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.213ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100839 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100839 ms (missed cycles : 2).[0m ×2 + 19.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 19.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 19.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360010 ms (missed cycles : 4). + 19.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.360010 ms (missed cycles : 4).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 20.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491574 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491574 ms (missed cycles : 3).[0m ×2 + 21.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 21.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 21.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430007 ms (missed cycles : 3). + 21.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.430007 ms (missed cycles : 3).[0m ×2 + 22.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 23.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497131 ms (missed cycles : 3). + 23.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.497131 ms (missed cycles : 3).[0m ×2 + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 23.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms ×2 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602534 ms (missed cycles : 3). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602534 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 24.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 25.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 25.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724823 ms (missed cycles : 3). + 25.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724823 ms (missed cycles : 3).[0m ×2 + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 26.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882830 ms (missed cycles : 2). + 26.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.882830 ms (missed cycles : 2).[0m ×2 + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 27.27sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355995 ms (missed cycles : 2). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.355995 ms (missed cycles : 2).[0m ×2 + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 28.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814154 ms (missed cycles : 4). + 28.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.814154 ms (missed cycles : 4).[0m ×2 + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115926 ms (missed cycles : 2). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115926 ms (missed cycles : 2).[0m ×2 + 29.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 30.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645144 ms (missed cycles : 3). + 30.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.645144 ms (missed cycles : 3).[0m ×2 + 30.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.823ms + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.203ms + 31.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866250 ms (missed cycles : 3). + 31.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.866250 ms (missed cycles : 3).[0m ×2 + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.418ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193285 ms (missed cycles : 2). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.193285 ms (missed cycles : 2).[0m ×2 + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms ×2 + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483646 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483646 ms (missed cycles : 3).[0m ×2 + 33.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466203 ms (missed cycles : 4). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.466203 ms (missed cycles : 4).[0m ×2 + 35.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.38sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296438 ms (missed cycles : 4). + 35.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.296438 ms (missed cycles : 4).[0m ×2 + 36.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043343 ms (missed cycles : 4). + 36.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043343 ms (missed cycles : 4).[0m ×2 + 38.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499493 ms (missed cycles : 2). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.499493 ms (missed cycles : 2).[0m ×2 + 39.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553837 ms (missed cycles : 4). + 39.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.553837 ms (missed cycles : 4).[0m ×2 + 40.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 40.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998370 ms (missed cycles : 4). + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998370 ms (missed cycles : 4).[0m ×2 + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454703 ms (missed cycles : 4). + 41.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454703 ms (missed cycles : 4).[0m ×2 + 42.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 42.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877391 ms (missed cycles : 3). + 42.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.877391 ms (missed cycles : 3).[0m ×2 + 43.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419198 ms (missed cycles : 3). + 43.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419198 ms (missed cycles : 3).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753965 ms (missed cycles : 3). + 44.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753965 ms (missed cycles : 3).[0m ×2 + 45.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.249ms + 45.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047472 ms (missed cycles : 2). + 45.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.047472 ms (missed cycles : 2).[0m ×2 + 46.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595589 ms (missed cycles : 3). + 46.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.595589 ms (missed cycles : 3).[0m ×2 + 47.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164707 ms (missed cycles : 4). + 47.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.164707 ms (missed cycles : 4).[0m ×2 + 49.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058673 ms (missed cycles : 3). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.058673 ms (missed cycles : 3).[0m ×2 + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209616 ms (missed cycles : 5). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.209616 ms (missed cycles : 5).[0m ×2 + 51.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488688 ms (missed cycles : 3). + 51.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.488688 ms (missed cycles : 3).[0m ×2 + 52.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922065 ms (missed cycles : 4). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922065 ms (missed cycles : 4).[0m ×2 + 52.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774925 ms (missed cycles : 5). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.774925 ms (missed cycles : 5).[0m ×2 + 54.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233432 ms (missed cycles : 4). + 54.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.233432 ms (missed cycles : 4).[0m ×2 + 55.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865112 ms (missed cycles : 3). + 55.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.865112 ms (missed cycles : 3).[0m ×2 + 56.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647994 ms (missed cycles : 4). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.647994 ms (missed cycles : 4).[0m ×2 + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252888 ms (missed cycles : 2). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252888 ms (missed cycles : 2).[0m ×2 + 58.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457737 ms (missed cycles : 3). + 58.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457737 ms (missed cycles : 3).[0m ×2 + 59.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767423 ms (missed cycles : 2). + 59.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767423 ms (missed cycles : 2).[0m ×2 + 60.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 60.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3). + 60.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3).[0m ×2 + 61.02sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786074591.59216094 seconds ×3 + 61.15sWARNlocal_costmap.local_costmapSensor origin at (-1.08, 5.67) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.15sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 5.68) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.097ms + 61.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.261ms + 61.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.495ms + 61.59sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786074592.16008091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.160ms + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086778 ms (missed cycles : 4). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086778 ms (missed cycles : 4).[0m ×2 + 61.96sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 61.99sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182373 ms (missed cycles : 2). + 63.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182373 ms (missed cycles : 2).[0m ×2 + 63.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.885ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 54.5s | 178 warnings · 172 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.94sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786074392.11219001 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.62, 6.39) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 6.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.495ms + 4.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2).[0m ×2 + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.463ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786074392.67922473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.862ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.586ms + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.769ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4).[0m ×2 + 6.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.86sINFOjoint_trajectory_controllerReceived new action goal ×3 + 6.86sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 6.86sINFOros2_control_nodeReceived new action goal[0m ×6 + 6.86sINFOros2_control_nodeAccepted new action goal[0m ×6 + 6.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.776ms + 7.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.896ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341587 ms (missed cycles : 4). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.341587 ms (missed cycles : 4).[0m ×2 + 7.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.254ms + 7.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.798ms + 8.23sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 5.452ms + 8.63sINFOamclParticle filter update iteration stats: 3502 particles 723 points - 4.381ms + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290943 ms (missed cycles : 4). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.290943 ms (missed cycles : 4).[0m ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221348 ms (missed cycles : 4). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221348 ms (missed cycles : 4).[0m ×2 + 9.93sINFOamclParticle filter update iteration stats: 2470 particles 723 points - 4.312ms + 10.53sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 2.447ms + 10.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981847 ms (missed cycles : 3). + 10.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981847 ms (missed cycles : 3).[0m ×2 + 11.03sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.758ms + 11.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.716ms + 11.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181646 ms (missed cycles : 4). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.181646 ms (missed cycles : 4).[0m ×2 + 12.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 12.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 13.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms ×2 + 13.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591641 ms (missed cycles : 3). + 13.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591641 ms (missed cycles : 3).[0m ×2 + 13.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860057 ms (missed cycles : 2). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.860057 ms (missed cycles : 2).[0m ×2 + 14.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 15.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 15.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584926 ms (missed cycles : 3). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.584926 ms (missed cycles : 3).[0m ×2 + 15.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 16.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435878 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.435878 ms (missed cycles : 3).[0m ×2 + 16.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 17.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554568 ms (missed cycles : 3). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554568 ms (missed cycles : 3).[0m ×2 + 17.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 18.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807206 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.807206 ms (missed cycles : 2).[0m ×2 + 18.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 19.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 19.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 19.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413931 ms (missed cycles : 3). + 19.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413931 ms (missed cycles : 3).[0m ×2 + 20.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 20.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 20.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755460 ms (missed cycles : 3). + 20.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.755460 ms (missed cycles : 3).[0m ×2 + 21.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 21.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232521 ms (missed cycles : 4). + 21.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.232521 ms (missed cycles : 4).[0m ×2 + 22.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 22.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 22.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421311 ms (missed cycles : 3). + 22.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421311 ms (missed cycles : 3).[0m ×2 + 23.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 23.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425601 ms (missed cycles : 3). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.425601 ms (missed cycles : 3).[0m ×2 + 24.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms ×2 + 24.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 24.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366761 ms (missed cycles : 3). + 24.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366761 ms (missed cycles : 3).[0m ×2 + 25.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 25.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 26.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100569 ms (missed cycles : 4). + 26.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.100569 ms (missed cycles : 4).[0m ×2 + 26.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms ×2 + 26.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 27.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 27.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121081 ms (missed cycles : 4). + 27.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.121081 ms (missed cycles : 4).[0m ×2 + 27.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 28.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 28.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006056 ms (missed cycles : 2). + 28.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.006056 ms (missed cycles : 2).[0m ×2 + 28.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 29.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.069ms + 29.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607069 ms (missed cycles : 3). + 29.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607069 ms (missed cycles : 3).[0m ×2 + 29.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 30.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 30.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335570 ms (missed cycles : 4). + 30.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.335570 ms (missed cycles : 4).[0m ×2 + 30.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 31.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815983 ms (missed cycles : 5). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.815983 ms (missed cycles : 5).[0m ×2 + 31.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.618ms + 32.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 32.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175530 ms (missed cycles : 4). + 32.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.175530 ms (missed cycles : 4).[0m ×2 + 32.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 33.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389684 ms (missed cycles : 3). + 33.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389684 ms (missed cycles : 3).[0m ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493948 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.493948 ms (missed cycles : 3).[0m ×2 + 35.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763961 ms (missed cycles : 4). + 35.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.763961 ms (missed cycles : 4).[0m ×2 + 35.68sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.42sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.42sINFOobjective_server_nodePlanning for 57 path waypoints. ×3 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376902 ms (missed cycles : 3). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.376902 ms (missed cycles : 3).[0m ×2 + 37.93sINFOros2_control_nodeMuJoCo sim: 0.65% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358002 ms (missed cycles : 3). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358002 ms (missed cycles : 3).[0m ×2 + 38.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 38.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 39.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309148 ms (missed cycles : 4). + 39.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309148 ms (missed cycles : 4).[0m ×2 + 39.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 39.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.079ms + 40.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 40.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871198 ms (missed cycles : 2). + 40.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871198 ms (missed cycles : 2).[0m ×2 + 40.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 41.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318347 ms (missed cycles : 2). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.318347 ms (missed cycles : 2).[0m ×2 + 42.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822125 ms (missed cycles : 3). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822125 ms (missed cycles : 3).[0m ×2 + 43.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677533 ms (missed cycles : 2). + 43.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677533 ms (missed cycles : 2).[0m ×2 + 44.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977090 ms (missed cycles : 3). + 44.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977090 ms (missed cycles : 3).[0m ×2 + 44.73sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 45.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565140 ms (missed cycles : 4). + 45.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.565140 ms (missed cycles : 4).[0m ×2 + 45.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 46.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 46.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374705 ms (missed cycles : 3). + 46.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374705 ms (missed cycles : 3).[0m ×2 + 47.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 47.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700067 ms (missed cycles : 3). + 47.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700067 ms (missed cycles : 3).[0m ×2 + 48.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms ×2 + 48.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751996 ms (missed cycles : 3). + 48.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751996 ms (missed cycles : 3).[0m ×2 + 49.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380453 ms (missed cycles : 3). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.380453 ms (missed cycles : 3).[0m ×2 + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 50.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671189 ms (missed cycles : 2). + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.671189 ms (missed cycles : 2).[0m ×2 + 51.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362187 ms (missed cycles : 3). + 51.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362187 ms (missed cycles : 3).[0m ×2 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 52.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954876 ms (missed cycles : 3). + 52.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954876 ms (missed cycles : 3).[0m ×2 + 53.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 54.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291539 ms (missed cycles : 4). + 54.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.291539 ms (missed cycles : 4).[0m ×2 + 55.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340637 ms (missed cycles : 3). + 55.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340637 ms (missed cycles : 3).[0m ×2 + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552134 ms (missed cycles : 3). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552134 ms (missed cycles : 3).[0m ×2 + 56.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 57.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982353 ms (missed cycles : 4). + 57.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982353 ms (missed cycles : 4).[0m ×2 + 57.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388792 ms (missed cycles : 3). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388792 ms (missed cycles : 3).[0m ×2 + 58.51sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786074446.62936282 seconds ×3 + 58.61sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 10.56) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 58.61sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.06) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 58.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.276ms + 59.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 59.07sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786074447.19098020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.773ms + 59.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697746 ms (missed cycles : 2). + 59.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697746 ms (missed cycles : 2).[0m ×2 + 59.47sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 59.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.729ms + 59.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.766ms + 60.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.767ms + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340083 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340083 ms (missed cycles : 3).[0m ×2 + 60.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 60.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.515ms + 61.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.094ms + 61.17sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.5s | 144 warnings · 140 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.10sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_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 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 4.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.99sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219721 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219721 ms (missed cycles : 3).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388996 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388996 ms (missed cycles : 3).[0m ×2 + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588996 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588996 ms (missed cycles : 3).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420577 ms (missed cycles : 3). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.420577 ms (missed cycles : 3).[0m ×2 + 9.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955218 ms (missed cycles : 2). + 9.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955218 ms (missed cycles : 2).[0m ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738071 ms (missed cycles : 3). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738071 ms (missed cycles : 3).[0m ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317437 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317437 ms (missed cycles : 2).[0m ×2 + 12.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674805 ms (missed cycles : 2). + 12.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674805 ms (missed cycles : 2).[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035281 ms (missed cycles : 2). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.035281 ms (missed cycles : 2).[0m ×2 + 15.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521511 ms (missed cycles : 3). + 15.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.521511 ms (missed cycles : 3).[0m ×2 + 16.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129694 ms (missed cycles : 4). + 16.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129694 ms (missed cycles : 4).[0m ×2 + 17.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639159 ms (missed cycles : 3). + 17.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639159 ms (missed cycles : 3).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020244 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020244 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287559 ms (missed cycles : 2). + 19.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287559 ms (missed cycles : 2).[0m ×2 + 19.71sINFOamclParticle filter update iteration stats: 2082 particles 723 points - 2.491ms + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415706 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.415706 ms (missed cycles : 3).[0m ×2 + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146229 ms (missed cycles : 3). + 21.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.146229 ms (missed cycles : 3).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147578 ms (missed cycles : 2). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.147578 ms (missed cycles : 2).[0m ×2 + 23.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184037 ms (missed cycles : 2). + 23.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.184037 ms (missed cycles : 2).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566611 ms (missed cycles : 3). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.566611 ms (missed cycles : 3).[0m ×2 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336373 ms (missed cycles : 3). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336373 ms (missed cycles : 3).[0m ×2 + 26.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428185 ms (missed cycles : 3). + 26.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428185 ms (missed cycles : 3).[0m ×2 + 27.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324244 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.324244 ms (missed cycles : 2).[0m ×2 + 28.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438507 ms (missed cycles : 3). + 28.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438507 ms (missed cycles : 3).[0m ×2 + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886255 ms (missed cycles : 3). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886255 ms (missed cycles : 3).[0m ×2 + 31.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494987 ms (missed cycles : 2). + 31.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.494987 ms (missed cycles : 2).[0m ×2 + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622391 ms (missed cycles : 2). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.622391 ms (missed cycles : 2).[0m ×2 + 33.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141502 ms (missed cycles : 2). + 33.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141502 ms (missed cycles : 2).[0m ×2 + 34.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927354 ms (missed cycles : 2). + 34.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.927354 ms (missed cycles : 2).[0m ×2 + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719420 ms (missed cycles : 2). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.719420 ms (missed cycles : 2).[0m ×2 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301651 ms (missed cycles : 4). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.301651 ms (missed cycles : 4).[0m ×2 + 37.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721947 ms (missed cycles : 3). + 37.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721947 ms (missed cycles : 3).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376894 ms (missed cycles : 3). + 38.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376894 ms (missed cycles : 3).[0m ×2 + 39.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738809 ms (missed cycles : 2). + 39.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738809 ms (missed cycles : 2).[0m ×2 + 40.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698843 ms (missed cycles : 3). + 40.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698843 ms (missed cycles : 3).[0m ×2 + 41.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725580 ms (missed cycles : 2). + 41.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725580 ms (missed cycles : 2).[0m ×2 + 42.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031705 ms (missed cycles : 2). + 42.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031705 ms (missed cycles : 2).[0m ×2 + 44.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2). + 44.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2).[0m ×2 + 45.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2). + 45.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2).[0m ×2 + 46.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3). + 46.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3).[0m ×2 + 46.54sINFOjoint_trajectory_controllerGoal reached, success! + 46.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786074293.63424301 seconds ×3 + 47.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786074294.19779444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2). + 47.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2).[0m ×2 + 48.27sINFOobjective_server_nodeFound path in 0 iterations (4.1905e-05 s). ×2 + 48.27sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3).[0m ×2 + 49.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3). + 49.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.4s | 110 warnings · 123 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 0.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812141 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812141 ms (missed cycles : 3).[0m ×2 + 1.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.806ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722018 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722018 ms (missed cycles : 2).[0m ×2 + 2.67sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.67sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.68sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786074359.67904091 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893443 ms (missed cycles : 2). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893443 ms (missed cycles : 2).[0m ×2 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258311 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258311 ms (missed cycles : 2).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786074361.25205588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366174 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366174 ms (missed cycles : 2).[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 + 6.63sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678312 ms (missed cycles : 2). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.678312 ms (missed cycles : 2).[0m ×2 + 8.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153859 ms (missed cycles : 2). + 8.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.153859 ms (missed cycles : 2).[0m ×2 + 8.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.042ms + 9.05sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822967 ms (missed cycles : 2). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.822967 ms (missed cycles : 2).[0m ×2 + 9.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.297ms + 9.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.656ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040984 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.040984 ms (missed cycles : 3).[0m ×2 + 10.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.335ms + 10.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.960ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378191 ms (missed cycles : 2). + 11.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.378191 ms (missed cycles : 2).[0m ×2 + 11.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.923ms + 11.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.610ms + 12.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.468ms + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020919 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020919 ms (missed cycles : 2).[0m ×2 + 12.96sINFOamclParticle filter update iteration stats: 4559 particles 723 points - 6.850ms + 13.46sINFOamclParticle filter update iteration stats: 3513 particles 723 points - 6.011ms + 13.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040195 ms (missed cycles : 4). + 13.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.040195 ms (missed cycles : 4).[0m ×2 + 13.95sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 5.674ms + 14.45sINFOamclParticle filter update iteration stats: 1766 particles 723 points - 2.564ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087414 ms (missed cycles : 2). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.087414 ms (missed cycles : 2).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.608ms + 15.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 15.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071489 ms (missed cycles : 2). + 15.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071489 ms (missed cycles : 2).[0m ×2 + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 16.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888493 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888493 ms (missed cycles : 3).[0m ×2 + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.070ms + 18.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171922 ms (missed cycles : 2). + 18.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171922 ms (missed cycles : 2).[0m ×2 + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 18.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551131 ms (missed cycles : 3). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.551131 ms (missed cycles : 3).[0m ×2 + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 19.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087139 ms (missed cycles : 4). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.087139 ms (missed cycles : 4).[0m ×2 + 20.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238821 ms (missed cycles : 4). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.238821 ms (missed cycles : 4).[0m ×2 + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.689697 ms (missed cycles : 3).[0m ×2 + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 22.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909484 ms (missed cycles : 3). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.909484 ms (missed cycles : 3).[0m ×2 + 23.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.431ms + 24.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.451ms + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091550 ms (missed cycles : 4). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.091550 ms (missed cycles : 4).[0m ×2 + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.333ms + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554486 ms (missed cycles : 3). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.554486 ms (missed cycles : 3).[0m ×2 + 25.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188654 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.188654 ms (missed cycles : 2).[0m ×2 + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415711 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415711 ms (missed cycles : 3).[0m ×2 + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 28.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836394 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.836394 ms (missed cycles : 3).[0m ×2 + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956423 ms (missed cycles : 2). + 30.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.956423 ms (missed cycles : 2).[0m ×2 + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 30.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3).[0m ×2 + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 32.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3). + 32.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3).[0m ×2 + 32.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 32.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 33.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4). + 33.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4).[0m ×2 + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 34.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5). + 34.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5).[0m ×2 + 35.11sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786074392.11219001 seconds ×3 + 35.22sWARNlocal_costmap.local_costmapSensor origin at (-1.62, 6.39) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.22sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 6.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.495ms + 35.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 35.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2). + 35.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2).[0m ×2 + 35.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.463ms + 35.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786074392.67922473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 35.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.862ms + 36.12sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 36.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 36.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3). + 36.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3).[0m ×2 + 36.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 36.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.586ms + 37.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 37.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.769ms + 37.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4). + 37.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4).[0m ×2 + 37.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 37.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 38.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.776ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.6s | 59 warnings · 136 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252888 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.252888 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457737 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.457737 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767423 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767423 ms (missed cycles : 2).[0m ×2 + 2.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.640ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.627636 ms (missed cycles : 3).[0m ×2 + 3.31sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.31sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786074591.59216094 seconds ×3 + 3.37sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-1.08, 5.67) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.50sWARNlocal_costmap.local_costmapSensor origin at (-1.97, 5.68) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.097ms + 3.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.261ms + 3.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.495ms + 3.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786074592.16008091 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.160ms + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086778 ms (missed cycles : 4). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086778 ms (missed cycles : 4).[0m ×2 + 4.30sINFOobjective_server_nodeFound path in 0 iterations (3.77e-07 s). ×2 + 4.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.35sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.35sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.35sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.35sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182373 ms (missed cycles : 2). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182373 ms (missed cycles : 2).[0m ×2 + 5.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.885ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746936 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.746936 ms (missed cycles : 3).[0m ×2 + 7.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.619ms + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568594 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568594 ms (missed cycles : 3).[0m ×2 + 8.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573627 ms (missed cycles : 3). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.573627 ms (missed cycles : 3).[0m ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (6.17e-07 s). ×2 + 8.71sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.74sINFOobjective_server_nodeFound path in 0 iterations (1.164e-06 s). ×2 + 8.79sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 8.83sINFOobjective_server_nodeFound path in 0 iterations (1.139e-06 s). ×2 + 8.90sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 9.13sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (1.977e-06 s). ×2 + 9.37sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 9.45sINFOobjective_server_nodeFound path in 29 iterations (0.0367887 s). ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484081 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484081 ms (missed cycles : 3).[0m ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] ×2 + 9.78sINFOobjective_server_nodeFound path in 0 iterations (3.53e-07 s). ×2 + 10.25sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.30sINFOobjective_server_nodeFound path in 0 iterations (2.4e-07 s). ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674091 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.674091 ms (missed cycles : 2).[0m ×2 + 10.73sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 10.97sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158114 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158114 ms (missed cycles : 2).[0m ×2 + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.616ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162920 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162920 ms (missed cycles : 3).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.245ms + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.432ms + 14.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253577 ms (missed cycles : 2). + 14.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253577 ms (missed cycles : 2).[0m ×2 + 14.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.625ms + 15.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 15.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.522ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2).[0m ×2 + 16.97sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786074605.19638944 seconds ×3 + 17.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.708ms + 17.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2). + 17.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2).[0m ×2 + 17.57sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786074605.79407859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 17.57sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 17.57sINFOmove_groupClearing octomap...[0m ×2 + 17.57sINFOmove_groupOctomap cleared.[0m ×2 + 17.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.948ms + 17.84sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.871ms + 18.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 18.27sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786074606.49423647 seconds ×3 + 18.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3). + 18.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3).[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.853ms + 18.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.521ms + 18.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786074607.04637241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.854ms + 19.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 19.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3).[0m ×2 + 19.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786074607.71650100 seconds ×3 + 19.73sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 19.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.714ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 98 errors · 33 warnings · 400 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.625ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 0.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3). + 0.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.522ms + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2).[0m ×2 + 2.51sINFOjoint_trajectory_controllerGoal reached, success! + 2.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.54sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786074605.19638944 seconds ×3 + 2.56sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.708ms + 2.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2). + 2.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2).[0m ×2 + 3.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786074605.79407859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.14sINFOmove_groupClearing octomap...[0m ×2 + 3.14sINFOmove_groupOctomap cleared.[0m ×2 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.948ms + 3.41sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.871ms + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 3.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786074606.49423647 seconds ×3 + 3.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3). + 3.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3).[0m ×2 + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.853ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.521ms + 4.39sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786074607.04637241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.854ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 5.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3). + 5.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3).[0m ×2 + 5.06sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786074607.71650100 seconds ×3 + 5.30sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.714ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627738 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627738 ms (missed cycles : 3).[0m ×2 + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117861 ms (missed cycles : 2). + 7.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.117861 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838082 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.838082 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227129 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.227129 ms (missed cycles : 2).[0m ×2 + 10.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007976 ms (missed cycles : 2). + 10.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007976 ms (missed cycles : 2).[0m ×2 + 11.37sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.39sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.42sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORweb_video_auth_proxy-35process has died [pid 10695, 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 + 11.43sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.45sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORweb_bridge_auth_proxy-34process has died [pid 10694, 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 + 11.46sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.54sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.56sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.58sINFOvideo_server-33process has finished cleanly [pid 10691] ×2 + 11.59sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.61sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.64sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.67sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.70sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.72sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.73sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.77sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.80sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.82sINFOtf2_web_republisher_node-32process has finished cleanly [pid 10690] ×2 + 11.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940648 ms (missed cycles : 2). + 11.83sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.86sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.90sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.90sINFOcontroller_managerShutdown request received.... + 11.90sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.90sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.90sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.90sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.90sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.90sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.90sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.90sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.90sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.90sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.90sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.90sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.90sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.90sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.90sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.90sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.90sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.90sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.90sINFOcontroller_managerShutting down the controller manager. + 11.92sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.93sINFOui_teleop_bridge-30process has finished cleanly [pid 10688] ×2 + 11.93sERRORmove_group-21process has died [pid 10661, 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_2hjd1mq3 --params-file /tmp/launch_params_9x7imf9p --params-file /tmp/launch_params_wo4oaon5 --params-file /tmp/launch_params_i8e916id --params-file /tmp/launch_params_v0vfwehm --params-file /tmp/launch_params__1t43btt']. ×2 + 11.95sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.95sINFOcomponent_container_mt-28process has finished cleanly [pid 10686] ×2 + 11.97sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786074614.325 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.98sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.98sINFOexecute_objective_bridge-29process has finished cleanly [pid 10687] ×2 + 12.00sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.02sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.04sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.07sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.07sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.07sINFOmap_serverDeactivating + 12.07sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.08sINFOmap_serverCleaning up + 12.08sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.08sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.10sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.10sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.10sINFOcontroller_serverDeactivating + 12.10sINFOlocal_costmap.local_costmapDeactivating + 12.10sINFOvideo_server2026/08/07 03:50:14 INF shutting down gracefully ×2 + 12.10sINFOvideo_server2026/08/07 03:50:14 INF [WebRTC] closing ×2 + 12.10sINFOvideo_server2026/08/07 03:50:14 INF [RTSP] closing ×2 + 12.10sINFOvideo_server2026/08/07 03:50:14 INF waiting for running hooks ×2 + 12.10sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.10sERRORamclThe bond connection to the lifecycle manager has been broken + 12.10sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.10sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.10sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.10sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.11sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.11sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940648 ms (missed cycles : 2).[0m ×2 + 12.11sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.11sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.11sERRORmove_groupStack trace (most recent call last) in thread 11278: ×2 + 12.11sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.11sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34dacb2a63, in __clone ×2 + 12.11sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34dac25aa3, in ×2 + 12.11sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34daeb7db3, in ×2 + 12.11sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f34db623ed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.11sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f34db249620, in rclcpp::Rate::sleep() ×2 + 12.11sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f34db18bd18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.11sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f34db14d087, in ×2 + 12.11sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34dae86390, in __cxa_throw ×2 + 12.11sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34dae70a54, in std::terminate() ×2 + 12.11sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34dae860d9, in ×2 + 12.11sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f34dae70ff4, in ×2 + 12.11sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34dabb18fe, in abort ×2 + 12.11sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34dabce27d, in raise ×2 + 12.11sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f34dac27b2c, in pthread_kill ×2 + 12.11sERRORmove_groupAborted (Signal sent by tkill() 10661 0) ×2 + 12.11sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.11sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.11sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.11sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.11sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.11sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.11sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.11sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.11sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.12sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.12sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.12sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.12sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.12sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.12sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.12sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.12sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.12sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.12sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.12sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.12sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.12sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.12sINFOodom_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 + 12.12sINFOodom_qos_relay.pymain() ×2 + 12.12sINFOodom_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 + 12.12sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.12sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.12sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.12sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.12sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.12sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.12sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.12sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.12sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.12sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.12sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.12sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.12sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.12sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.13sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.13sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.13sINFOros2_control_nodepublish_async_failures_ 0[0m ×4 + 12.17sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.18sINFOcontroller_serverCleaning up + 12.18sINFOlocal_costmap.local_costmapCleaning up + 12.22sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.22sINFOsmoother_serverDeactivating + 12.22sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.23sINFOsmoother_serverCleaning up + 12.25sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.25sINFOplanner_serverDeactivating + 12.25sINFOglobal_costmap.global_costmapDeactivating + 12.32sERRORcomponent_container_isolated-2process has died [pid 10565, 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_rnrpmxr1 --params-file /tmp/launch_params_abpgttnf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.33sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.33sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.33sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.33sINFOvelocity_smootherDeactivating + 12.33sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.45sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.45sINFOwaypoint_followerDeactivating + 12.45sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.48sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.48sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.49sINFOplanner_serverCleaning up + 12.51sINFOglobal_costmap.global_costmapCleaning up + 12.52sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.52sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.55sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.55sINFObehavior_serverDeactivating + 12.55sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.56sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.56sINFObt_navigatorDeactivating + 12.56sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.56sINFObehavior_serverCleaning up + 12.57sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.57sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.57sINFOwaypoint_followerCleaning up + 12.58sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.58sINFOvelocity_smootherCleaning up + 12.58sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.67sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.67sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.67sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.67sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.67sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.67sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.68sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.68sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.68sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.68sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.68sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.70sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.70sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.70sINFObt_navigatorCleaning up + 12.80sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 10683] ×2 + 12.83sINFOmove_joint_resampler_node-24process has finished cleanly [pid 10682] ×2 + 12.88sINFObt_navigatorCompleted Cleaning up + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.88sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.88sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.88sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.88sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.88sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.88sINFOobjective_server_node[2026-08-07 03:50:15.538] [moveit_pro_license] [info] ×2 + 12.88sINFOobjective_server_node************************************************* ×4 + 12.88sINFOobjective_server_node* MoveIt Pro License ×2 + 12.88sINFOobjective_server_node* Application has successfully terminated ×2 + 12.90sINFOwaypoint_manager_node-23process has finished cleanly [pid 10663] ×2 + 12.90sINFOparameter_manager_node-22process has finished cleanly [pid 10662] ×2 + 12.91sINFOcomponent_container_mt-27process has finished cleanly [pid 10685] ×2 + 12.94sINFOobjective_server_node_main-26process has finished cleanly [pid 10684] ×2 + 12.95sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.97sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 10571] ×2 + 12.99sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 10570] ×2 + 13.05sINFOstatic_transform_publisher-4process has finished cleanly [pid 10567] ×2 + 13.08sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 10569] ×2 + 13.08sINFOstatic_transform_publisher-3process has finished cleanly [pid 10566] ×2 + 13.09sERRORodom_qos_relay.py-5process has died [pid 10568, 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 + 13.19sERRORcomponent_container_isolated-1process has died [pid 10564, 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_rnrpmxr1 --params-file /tmp/launch_params_c22tdxkm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.21sINFOweb_bridge-31process has finished cleanly [pid 10689] ×2 + 14.21sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.56sINFOros2_control_node-9process has finished cleanly [pid 10572] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.8s | 3 errors · 50 warnings · 98 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340637 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340637 ms (missed cycles : 3).[0m ×2 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552134 ms (missed cycles : 3). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552134 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 2.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982353 ms (missed cycles : 4). + 2.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.982353 ms (missed cycles : 4).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388792 ms (missed cycles : 3). + 3.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.388792 ms (missed cycles : 3).[0m ×2 + 3.67sINFOjoint_trajectory_controllerGoal reached, success! + 3.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.68sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786074446.62936282 seconds ×3 + 3.70sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.70sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 10.56) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.78sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.06) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.276ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.988ms + 4.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786074447.19098020 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.773ms + 4.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697746 ms (missed cycles : 2). + 4.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697746 ms (missed cycles : 2).[0m ×2 + 4.64sINFOobjective_server_nodeFound path in 0 iterations (3.19e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.729ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.766ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.767ms + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340083 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340083 ms (missed cycles : 3).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.785ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.515ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.094ms + 6.33sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.38sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.38sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.38sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.39sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418875 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.418875 ms (missed cycles : 3).[0m ×2 + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.043ms + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.020ms + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.809ms + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352174 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.352174 ms (missed cycles : 3).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.812ms ×2 + 8.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759370 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759370 ms (missed cycles : 3).[0m ×2 + 9.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.366ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494551 ms (missed cycles : 4). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.494551 ms (missed cycles : 4).[0m ×2 + 9.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.587ms + 10.41sINFOamclParticle filter update iteration stats: 4787 particles 723 points - 8.081ms + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449056 ms (missed cycles : 5). + 10.91sINFOamclParticle filter update iteration stats: 4228 particles 723 points - 8.685ms + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.449056 ms (missed cycles : 5).[0m ×2 + 11.40sINFOamclParticle filter update iteration stats: 3513 particles 723 points - 4.694ms + 11.90sINFOamclParticle filter update iteration stats: 3482 particles 723 points - 4.166ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476381 ms (missed cycles : 3). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476381 ms (missed cycles : 3).[0m ×2 + 12.41sINFOamclParticle filter update iteration stats: 2868 particles 723 points - 4.852ms + 12.90sINFOamclParticle filter update iteration stats: 2669 particles 723 points - 3.662ms + 13.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553988 ms (missed cycles : 3). + 13.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553988 ms (missed cycles : 3).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 2324 particles 723 points - 4.122ms + 13.90sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.176ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968096 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.968096 ms (missed cycles : 3).[0m ×2 + 14.40sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 3.831ms + 14.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.42sINFOjoint_trajectory_controllerGot request to cancel goal + 14.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.43sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.43sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.43sERRORobjective_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: 1786074457.38109779 seconds ×3 + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.499ms + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.145ms + 15.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786074457.94195676 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.335ms + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.634ms + 15.38sINFOobjective_server_nodeFound path in 0 iterations (2.87e-07 s). ×2 + 15.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656241 ms (missed cycles : 2). + 15.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.656241 ms (missed cycles : 2).[0m ×2 + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.398ms + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.275ms + 16.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078023 ms (missed cycles : 4). + 16.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.078023 ms (missed cycles : 4).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.878ms + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.520ms + 17.05sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 17.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.961ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 38 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.25sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812141 ms (missed cycles : 3). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.812141 ms (missed cycles : 3).[0m ×2 + 6.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.806ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722018 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722018 ms (missed cycles : 2).[0m ×2 + 7.99sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786074359.67904091 seconds ×3 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893443 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.893443 ms (missed cycles : 2).[0m ×2 + 9.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258311 ms (missed cycles : 2). + 9.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258311 ms (missed cycles : 2).[0m ×2 + 9.56sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786074361.25205588 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.95sINFOobjective_server_nodeFound path in 0 iterations (3.75e-07 s). ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366174 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.366174 ms (missed cycles : 2).[0m ×2 + 11.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3). + 11.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562494 ms (missed cycles : 3).[0m ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.9s | 35 warnings · 58 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 0.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779308 ms (missed cycles : 3). + 0.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779308 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145033 ms (missed cycles : 2). + 1.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145033 ms (missed cycles : 2).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243338 ms (missed cycles : 2). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243338 ms (missed cycles : 2).[0m ×2 + 3.47sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.47sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.51sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786074529.55210876 seconds ×3 + 3.51sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.52sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.95) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.58sWARNlocal_costmap.local_costmapSensor origin at (-3.07, 13.50) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.316ms + 3.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125430 ms (missed cycles : 4). + 3.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.125430 ms (missed cycles : 4).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.522ms + 4.06sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786074530.10441422 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.658ms + 4.52sINFOjoint_trajectory_controllerReceived new action goal + 4.52sINFOjoint_trajectory_controllerAccepted new action goal + 4.53sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.53sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 4.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 4.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 8.38sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 seconds ×3 + 8.95sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 9.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 11.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 11.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031705 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.70sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786074293.63424301 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786074294.19779444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.1905e-05 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3).[0m ×2 + 7.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786074297.43792534 seconds ×3 + 7.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364860 ms (missed cycles : 2). + 7.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364860 ms (missed cycles : 2).[0m ×2 + 8.12sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786074298.00407362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.60sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 8.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138355 ms (missed cycles : 3). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138355 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136283 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136283 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.3s | 21 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.245ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.432ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253577 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253577 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.625ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.522ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786074605.19638944 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.708ms + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786074605.79407859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.948ms + 4.51sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.871ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786074606.49423647 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.853ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.521ms + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786074607.04637241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.854ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786074607.71650100 seconds ×3 + 6.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.714ms + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.889ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627738 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627738 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 3.031705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031705 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786074293.63424301 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786074294.19779444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.1905e-05 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786074293.63424301 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.62sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786074294.19779444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2).[0m ×2 + 1.73sINFOobjective_server_nodeFound path in 0 iterations (4.1905e-05 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOjoint_trajectory_controllerReceived new action goal + 1.75sINFOjoint_trajectory_controllerAccepted new action goal + 1.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3). + 1.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3).[0m ×2 + 2.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3). + 2.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786074297.43792534 seconds ×3 + 3.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364860 ms (missed cycles : 2). + 3.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.364860 ms (missed cycles : 2).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786074298.00407362 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 5.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138355 ms (missed cycles : 3). + 5.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.138355 ms (missed cycles : 3).[0m ×2 + 6.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136283 ms (missed cycles : 2). + 6.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.136283 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786074392.11219001 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.62, 6.39) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 6.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.495ms + 4.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2).[0m ×2 + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.463ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786074392.67922473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.862ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.586ms + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.769ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4).[0m ×2 + 6.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.86sINFOjoint_trajectory_controllerReceived new action goal + 6.86sINFOjoint_trajectory_controllerAccepted new action goal + 6.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.776ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786074392.11219001 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.62, 6.39) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 6.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.495ms + 4.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2).[0m ×2 + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.463ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786074392.67922473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.862ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.586ms + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.769ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4).[0m ×2 + 6.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.86sINFOjoint_trajectory_controllerReceived new action goal + 6.86sINFOjoint_trajectory_controllerAccepted new action goal + 6.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.776ms | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 110 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 0.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 1.09sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.09sINFOmove_groupClearing octomap...[0m ×2 + 1.10sINFOmove_groupOctomap cleared.[0m ×2 + 1.10sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 1.66sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.67sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 2.22sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 2.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.98sINFOobjective_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 + 2.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 2.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 2.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 2.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 2.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 2.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 2.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.02sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.02sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.03sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.03sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.03sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.04sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 3.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 3.60sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.61sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 4.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.68sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 4.99sINFOjoint_trajectory_controllerReceived new action goal + 4.99sINFOjoint_trajectory_controllerAccepted new action goal + 4.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.99sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219721 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219721 ms (missed cycles : 3).[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 3.031705 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031705 ms (missed cycles : 2).[0m ×2 + 1.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2). + 1.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.172147 ms (missed cycles : 2).[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733375 ms (missed cycles : 2).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880721 ms (missed cycles : 3).[0m ×2 + 3.70sINFOjoint_trajectory_controllerGoal reached, success! + 3.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786074293.63424301 seconds ×3 + 3.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.78sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786074294.19779444 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935002 ms (missed cycles : 2).[0m ×2 + 5.43sINFOobjective_server_nodeFound path in 0 iterations (4.1905e-05 s). ×2 + 5.43sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.45sINFOjoint_trajectory_controllerReceived new action goal + 5.45sINFOjoint_trajectory_controllerAccepted new action goal + 5.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.563576 ms (missed cycles : 3).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801030 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937498 ms (missed cycles : 4).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.613719 ms (missed cycles : 5).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509946 ms (missed cycles : 4).[0m ×2 + 2.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.036444 ms (missed cycles : 4).[0m ×2 + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786074354.98420095 seconds ×3 + 3.31sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-1.12, 5.84) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.43sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 5.85) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.157ms + 3.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.339ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786074355.54891562 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.500ms + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.683ms + 4.24sINFOobjective_server_nodeFound path in 0 iterations (4.76e-07 s). ×2 + 4.27sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.29sINFOjoint_trajectory_controllerReceived new action goal + 4.29sINFOjoint_trajectory_controllerAccepted new action goal + 4.29sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.29sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2). + 4.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785292 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.775726 ms (missed cycles : 3).[0m ×2 + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.782ms | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 23 warnings · 45 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348978 ms (missed cycles : 3).[0m ×2 + 0.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 0.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.607057 ms (missed cycles : 3).[0m ×2 + 1.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 1.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.027243 ms (missed cycles : 4).[0m ×2 + 2.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.960634 ms (missed cycles : 5).[0m ×2 + 3.94sINFOjoint_trajectory_controllerGoal reached, success! + 3.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786074392.11219001 seconds ×3 + 4.01sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.02sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-1.62, 6.39) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.11sWARNlocal_costmap.local_costmapSensor origin at (-2.52, 6.38) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.495ms + 4.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.142ms + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2). + 4.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.977927 ms (missed cycles : 2).[0m ×2 + 4.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.463ms + 4.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786074392.67922473 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.862ms + 5.00sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 5.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.559ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.274908 ms (missed cycles : 3).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.521ms + 5.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.586ms + 6.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.484ms + 6.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.769ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.520950 ms (missed cycles : 4).[0m ×2 + 6.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.662ms + 6.80sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.86sINFOjoint_trajectory_controllerReceived new action goal + 6.86sINFOjoint_trajectory_controllerAccepted new action goal + 6.86sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.86sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.776ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 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 + 0.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605055 ms (missed cycles : 3).[0m ×2 + 0.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.123ms + 1.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2). + 1.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841450 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.934ms + 2.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3). + 2.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379167 ms (missed cycles : 3).[0m ×2 + 2.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966424 ms (missed cycles : 2).[0m ×2 + 3.81sINFOjoint_trajectory_controllerGoal reached, success! + 3.81sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.85sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786074534.42454624 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 + 4.42sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786074534.99203730 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 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.756894 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeFound path in 0 iterations (1.043e-06 s). ×2 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.762139 ms (missed cycles : 2).[0m ×2 + 6.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3). + 6.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.363176 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 49 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.245ms + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.432ms + 0.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253577 ms (missed cycles : 2). + 0.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253577 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.625ms + 1.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.836ms + 1.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3). + 1.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658838 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.522ms + 2.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2). + 2.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.892055 ms (missed cycles : 2).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.64sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786074605.19638944 seconds ×3 + 3.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.708ms + 4.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2). + 4.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.961985 ms (missed cycles : 2).[0m ×2 + 4.24sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786074605.79407859 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.24sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.24sINFOmove_groupClearing octomap...[0m ×2 + 4.24sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.948ms + 4.51sINFOros2_control_nodeMuJoCo sim: 1.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.871ms + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.271ms + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786074606.49423647 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520342 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.853ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.521ms + 5.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786074607.04637241 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.854ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.140ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 6.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3). + 6.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.358427 ms (missed cycles : 3).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786074607.71650100 seconds ×3 + 6.40sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.714ms | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.23sINFOjoint_trajectory_controllerReceived new action goal + 7.23sINFOjoint_trajectory_controllerAccepted new action goal + 7.23sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.23sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532747 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.47sINFOmove_groupClearing octomap...[0m ×2 + 4.47sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 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 + 6.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 6.98sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.99sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.00sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.00sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.00sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.00sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.00sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.00sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
| − skipped | — | addtovector.xml | 0.0s | 21 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532747 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.532747 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 2.38sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.47sINFOmove_groupClearing octomap...[0m ×2 + 4.47sINFOmove_groupOctomap cleared.[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 5.04sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.05sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 5.60sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.75sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 6.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 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 + 6.37sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.37sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.37sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.37sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.39sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.40sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.40sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.41sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.41sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.41sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.42sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 24 warnings · 106 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.941428 ms (missed cycles : 3).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 1.25sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 2.79sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.80sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.34sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.34sINFOmove_groupClearing octomap...[0m ×2 + 3.34sINFOmove_groupOctomap cleared.[0m ×2 + 3.34sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 3.91sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.92sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 4.47sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 5.21sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.22sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.23sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.23sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.23sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.23sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.23sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.24sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.24sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.26sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.26sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.27sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.27sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.28sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 5.85sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.87sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 6.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 6.92sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.93sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_pose.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219721 ms (missed cycles : 3). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.219721 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 | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.948455 ms (missed cycles : 3).[0m ×2 + 0.11sINFOros2_control_nodeMuJoCo sim: 1.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868832 ms (missed cycles : 2).[0m ×2 + 1.65sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.908305 ms (missed cycles : 2).[0m ×2 + 2.19sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786074248.12674236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.20sINFOmove_groupOctomap cleared.[0m ×2 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786074248.13693738 seconds ×3 + 2.76sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786074248.69954824 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786074248.70969200 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.480788 ms (missed cycles : 3).[0m ×2 + 3.33sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786074249.25986409 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.48sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786074249.41060472 seconds ×3 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786074250.00184131 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.09sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.09sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.09sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.09sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.09sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.09sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.12sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.13sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.13sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.14sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.14sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786074250.08196306 seconds ×3 + 4.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.229050 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786074250.64123535 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2). + 5.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.367872 ms (missed cycles : 2).[0m ×2 + 5.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.78sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||