MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.4s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.3s	12 errors · 308 warnings · 1234 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/2026-08-07-04-09-44-906960-aea0bfbe4dcf-9397 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.81sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 13.82sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 13.82sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 13.83sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 13.84sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.84sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 13.84sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 13.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 13.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 13.85sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 13.85sINFOcontroller_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. + 13.88sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 13.88sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 13.88sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.88sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 13.89sINFOmap_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. + 13.89sINFOmap_serverCreating + 13.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 13.89sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 13.89sINFOcontroller_serverCreating controller server + 13.90sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.90sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 13.90sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.90sINFOlocal_costmap.local_costmapCreating Costmap + 13.90sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 13.91sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 13.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 13.91sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 13.91sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.91sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 13.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 13.92sINFOlifecycle_manager_localizationCreating + 13.92sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.92sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.92sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 13.92sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 13.92sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 13.92sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 13.92sINFOmap_serverConfiguring + 13.93sINFOsmoother_serverCreating smoother server + 13.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 13.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 13.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 13.93sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.94sINFOcontroller_managerupdate rate is 600 Hz + 13.94sINFOcontroller_managerOverruns handling is : enabled + 13.94sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.94sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 13.94sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.95sINFOplanner_serverCreating + 13.96sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 13.96sINFOamclConfiguring + 13.96sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 13.96sINFOmap_serverActivating + 13.96sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 13.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991480 ms (missed cycles : 2). + 13.97sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 13.98sINFOglobal_costmap.global_costmapCreating Costmap + 14.07sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.07sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.07sINFOamclActivating + 14.07sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.07sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.08sINFOamclSubscribed to map_topic: /map + 14.08sINFOamclSubscribed to scan_topic: /scan_merged + 14.08sINFOamclCreated reinitialize_global_localization service + 14.08sINFOamclCreated request_nomotion_update service + 14.09sINFOamclA new map was received + 14.09sINFOamclInitializing particle filter instance + 14.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.13sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.13sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.15sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.17sINFOros2_control_node-9process started with pid [9455] ×2 + 14.17sINFOmove_group-21process started with pid [9571] ×2 + 14.17sINFOparameter_manager_node-22process started with pid [9572] ×2 + 14.17sINFOwaypoint_manager_node-23process started with pid [9573] ×2 + 14.17sINFOmove_joint_resampler_node-24process started with pid [9577] ×2 + 14.17sINFOmove_end_effector_resampler_node-25process started with pid [9578] ×2 + 14.17sINFOobjective_server_node_main-26process started with pid [9579] ×2 + 14.17sINFOcomponent_container_mt-27process started with pid [9580] ×2 + 14.17sINFOcomponent_container_mt-28process started with pid [9581] ×2 + 14.18sINFOexecute_objective_bridge-29process started with pid [9582] ×2 + 14.18sINFOui_teleop_bridge-30process started with pid [9583] ×2 + 14.18sINFOweb_bridge-31process started with pid [9584] ×2 + 14.18sINFOtf2_web_republisher_node-32process started with pid [9585] ×2 + 14.18sINFOvideo_server-33process started with pid [9586] ×2 + 14.18sINFOweb_bridge_auth_proxy-34process started with pid [9587] ×2 + 14.18sINFOweb_video_auth_proxy-35process started with pid [9588] ×2 + 14.19sINFOcomponent_container_isolated-1process started with pid [9447] ×2 + 14.19sINFOcomponent_container_isolated-2process started with pid [9448] ×2 + 14.19sINFOstatic_transform_publisher-3process started with pid [9449] ×2 + 14.19sINFOstatic_transform_publisher-4process started with pid [9450] ×2 + 14.19sINFOodom_qos_relay.py-5process started with pid [9451] ×2 + 14.20sINFOforward_stereo_publisher.py-6process started with pid [9452] ×2 + 14.20sINFOscan_to_scan_filter_chain-7process started with pid [9453] ×2 + 14.20sINFOscan_to_scan_filter_chain-8process started with pid [9454] ×2 + 14.20sINFOros2-10process started with pid [9542] ×2 + 14.20sINFOros2-11process started with pid [9543] ×2 + 14.20sINFOros2-12process started with pid [9544] ×2 + 14.20sINFOros2-13process started with pid [9545] ×2 + 14.20sINFOros2-14process started with pid [9548] ×2 + 14.20sINFOros2-15process started with pid [9565] ×2 + 14.20sINFOros2-16process started with pid [9566] ×2 + 14.20sINFOros2-17process started with pid [9567] ×2 + 14.20sINFOros2-18process started with pid [9568] ×2 + 14.20sINFOros2-19process started with pid [9569] ×2 + 14.20sINFOros2-20process started with pid [9570] ×2 + 14.21sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.21sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.24sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.24sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.28sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.28sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.31sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.31sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.33sINFObt_navigatorCreating + 14.34sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.35sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.38sINFOrobot_state_publisherRobot initialized + 14.39sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.39sINFOwaypoint_followerCreating + 14.40sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.41sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.41sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.41sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.41sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.41sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.41sINFOcontroller_managerReceived robot description from topic. + 14.41sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.43sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.43sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.44sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.44sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.44sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.44sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.44sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.44sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.44sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.991480 ms (missed cycles : 2).[0m ×2 + 14.45sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.45sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.45sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.46sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.47sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.47sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.47sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.47sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.48sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.50sINFOlifecycle_manager_navigationCreating + 14.50sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.52sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.53sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.53sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.53sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.53sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.53sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.54sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.54sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.54sINFOcontroller_serverConfiguring controller interface + 14.54sINFOcontroller_servergetting progress checker plugins.. + 14.54sINFOcontroller_servergetting goal checker plugins.. + 14.54sINFOcontroller_serverController frequency set to 20.0000Hz + 14.54sINFOlocal_costmap.local_costmapConfiguring + 14.56sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 14.57sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.58sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.59sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 14.59sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.64sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 14.64sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 14.64sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 14.70sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 14.70sINFOcontroller_serverController Server has progress_checker progress checkers available. + 14.70sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 14.70sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 14.71sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 14.73sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 14.74sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 14.74sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 14.74sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 14.74sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 14.74sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 14.74sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 14.74sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 14.74sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 14.74sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 14.74sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 14.74sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 14.76sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 14.76sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 14.77sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 14.77sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 14.77sINFOcontroller_serverOptimizer reset ×2 + 14.78sINFOcontroller_serverController Server has FollowPath controllers available. + 14.82sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.82sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.82sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.82sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 14.82sINFOsmoother_serverConfiguring smoother server + 14.83sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 14.84sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 14.86sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 14.86sINFOplanner_serverConfiguring + 14.86sINFOglobal_costmap.global_costmapConfiguring + 14.87sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 14.88sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 14.88sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 14.88sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 14.89sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 14.91sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.268653 seconds + 14.91sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.91sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.91sINFOmove_groupLoaded robot model in 0.268653 seconds[0m ×2 + 14.91sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 14.91sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 14.92sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 14.92sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.92sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.95sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 14.95sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 14.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 14.96sINFOplanner_serverPlanner Server has GridBased planners available. + 14.98sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 14.98sINFObehavior_serverConfiguring + 14.99sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.01sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.01sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.02sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.03sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.04sINFObehavior_serverConfiguring spin + 15.05sINFObehavior_serverConfiguring backup + 15.05sINFObehavior_serverConfiguring drive_on_heading + 15.07sINFObehavior_serverConfiguring assisted_teleop + 15.08sINFObehavior_serverConfiguring wait + 15.09sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.09sINFObt_navigatorConfiguring + 15.10sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.11sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.562168 ms (missed cycles : 6). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.562168 ms (missed cycles : 6).[0m ×2 + 15.18sINFOvideo_server2026/08/07 04:10:03 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.19sINFOvideo_server2026/08/07 04:10:03 INF configuration loaded from /tmp/moveit-webrtc-g085_83v/mediamtx.yml ×2 + 15.19sINFOvideo_server2026/08/07 04:10:03 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.19sINFOvideo_server2026/08/07 04:10:03 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.24sINFOamclParticle filter initialization completed + 15.24sINFOamclInitializing particles from estimated pose and covariance + 15.24sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.25sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.26sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.26sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.26sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.41sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.54sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.54sINFOwaypoint_followerConfiguring + 15.58sINFOwaypoint_manager_nodeLoaded robot model in 0.361017 seconds[0m ×2 + 15.58sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.58sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.58sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.59sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.59sINFOvelocity_smootherConfiguring velocity smoother + 15.60sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 15.60sINFOcontroller_serverActivating + 15.60sINFOlocal_costmap.local_costmapActivating + 15.60sINFOlocal_costmap.local_costmapChecking transform + 15.60sINFOlocal_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. ×14 + 15.77sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.77sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.77sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.78sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.79sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.79sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.80sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.35sINFOmove_group[2026-08-07 04:10:04.720] [moveit_pro_license] [info] ×2 + 16.35sINFOmove_group************************************************* ×4 + 16.35sINFOmove_group* MoveIt Pro License ×2 + 16.35sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889984 ms (missed cycles : 5). + 16.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.889984 ms (missed cycles : 5).[0m ×2 + 16.47sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.47sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.47sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.47sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.57sINFOwaypoint_manager_node[2026-08-07 04:10:04.948] [moveit_pro_license] [info] ×2 + 16.57sINFOwaypoint_manager_node************************************************* ×4 + 16.57sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.57sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.90sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 16.90sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.06sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.06sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.08sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.08sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.09sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.09sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.09sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.09sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.09sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.09sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.10sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.10sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.10sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.10sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.10sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.11sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.11sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.11sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.64sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.64sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.64sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.64sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.64sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.64sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.64sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.64sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.64sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.64sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.64sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.64sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.64sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.64sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.64sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.64sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.65sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.65sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.65sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.65sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.65sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.65sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.65sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.65sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.65sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 17.65sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 17.66sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 17.66sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 17.66sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 17.66sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.67sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.68sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.68sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.68sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 17.70sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 17.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 17.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619630 ms (missed cycles : 3). + 17.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619630 ms (missed cycles : 3).[0m ×2 + 17.71sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 17.71sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 17.71sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 17.71sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 17.72sINFOplatform_velocity_controller_nav2configure successful + 17.72sINFOros2_control_nodeconfigure successful[0m ×6 + 17.89sINFOobjective_server_node[2026-08-07 04:10:06.262] [moveit_pro_license] [info] ×2 + 17.89sINFOobjective_server_node************************************************* ×4 + 17.89sINFOobjective_server_node* MoveIt Pro License ×2 + 17.89sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.95sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.95sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 17.95sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 17.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 17.98sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.01sINFOobjective_server_nodeLoaded robot model in 0.0341757 seconds[0m ×2 + 18.01sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.01sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.02sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.02sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.02sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.02sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.03sINFOros2-15process has finished cleanly [pid 9565] ×2 + 18.20sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 18.21sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.22sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.22sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.22sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.22sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.26sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.26sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.26sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.26sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.26sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.26sINFOstreaming_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) + 18.26sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.26sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.26sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.26sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.27sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.30sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.30sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.30sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.30sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.32sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.32sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.37sINFOcomponent_container_mtLoaded robot model in 0.403154 seconds[0m ×2 + 18.37sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.37sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.46sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.46sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.46sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.46sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.49sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.49sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.50sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.50sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.50sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.51sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.56sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.56sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.58sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.58sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.58sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.58sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.58sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.58sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.58sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.82sINFOros2_control_node[2026-08-07 04:10:07.193] [info] Controller state will be published at 20 Hz. ×2 + 18.82sINFOros2_control_node[2026-08-07 04:10:07.194] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.83sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.87sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521441 ms (missed cycles : 2). + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.88sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521441 ms (missed cycles : 2).[0m ×2 + 18.89sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786075806.145 for reason 'discarding message because the queue is full' + 19.07sINFOcomponent_container_mt[2026-08-07 04:10:07.445] [moveit_pro_license] [info] ×2 + 19.07sINFOcomponent_container_mt************************************************* ×4 + 19.07sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.07sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.14sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.14sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 19.14sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.15sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 19.15sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 19.15sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 19.15sINFOmove_groupMoveGroup debug mode is ON + 19.15sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.15sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.20sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.20sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.20sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.20sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.21sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.21sINFOros2-19process has finished cleanly [pid 9569] ×2 + 19.21sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.21sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.23sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 19.23sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 19.23sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 19.23sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 19.25sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.30sINFOmove_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 ****************************************************** + 19.30sINFOmove_group ×8 + 19.30sINFOmove_group****************************************************** ×4 + 19.30sINFOmove_group* MoveGroup using: ×2 + 19.30sINFOmove_group* - apply_planning_scene_service ×2 + 19.30sINFOmove_group* - clear_octomap_service ×2 + 19.30sINFOmove_group* - get_group_urdf ×2 + 19.30sINFOmove_group* - load_geometry_from_file ×2 + 19.30sINFOmove_group* - get_planning_scene_service ×2 + 19.30sINFOmove_group* - kinematics_service ×2 + 19.30sINFOmove_group* - save_geometry_to_file ×2 + 19.30sINFOmove_group* - GetPlanningGroups ×2 + 19.30sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.30sINFOmove_group[0m ×2 + 19.30sINFOmove_group[92mYou can start planning now![0m ×2 + 19.43sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.44sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.44sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.49sWARNros2_control_nodeCamera render tick took 0.60 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.61sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.61sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.62sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.70sINFOros2_control_node[2026-08-07 04:10:08.074] [info] Controller state will be published at 20 Hz. ×2 + 19.70sINFOros2_control_node[2026-08-07 04:10:08.075] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.75sWARNobjective_server_nodeDecorators 'Repeat', 'RetryUntilSuccessful', and 'KeepRunningUntilFailure' are deprecated and will be removed in MoveIt Pro 10.0. Use 'RepeatUnlessFailureEachTick' for tick-paradigm looping, or 'RepeatUnlessFailureWithinTick' if the legacy within-tick semantics are intentional. See https://docs.picknik.ai/troubleshooting/BehaviorTree%20Troubleshooting/. ×2 + 19.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393444 ms (missed cycles : 2). + 19.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393444 ms (missed cycles : 2).[0m ×2 + 20.05sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.05sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.05sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.05sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.05sINFOros2-20process has finished cleanly [pid 9570] ×2 + 20.05sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 20.05sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 20.07sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.07sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.10sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 20.10sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 20.10sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 20.10sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 20.11sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 20.11sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 20.11sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 20.11sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 20.12sINFOcontroller_managerSuccessfully switched controllers! ×7 + 20.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 20.13sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 20.13sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 20.45sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.45sINFOcontroller_managerLoading controller 'velocity_force_controller' + 20.45sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.45sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 20.46sINFOros2-14process has finished cleanly [pid 9548] ×2 + 20.57sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 20.57sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 20.63sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 20.63sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 20.63sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 20.63sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 20.75sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751746 ms (missed cycles : 3). + 20.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.751746 ms (missed cycles : 3).[0m ×2 + 20.99sINFOros2_control_node[2026-08-07 04:10:09.370] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.00sINFOros2_control_node[2026-08-07 04:10:09.372] [info] Controller state will be published at 10 Hz. ×2 + 21.00sINFOros2_control_node[2026-08-07 04:10:09.373] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.33sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.33sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.33sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 21.33sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.33sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.33sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 21.36sINFOros2-17process has finished cleanly [pid 9567] ×2 + 21.39sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.39sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.39sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.39sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.39sINFOplatform_velocity_controllerconfigure successful + 21.40sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.40sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.40sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.40sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 21.49sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786075808.745 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.72sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 21.72sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 21.72sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 21.72sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 21.73sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 21.73sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 21.76sINFOros2-13process has finished cleanly [pid 9545] ×2 + 21.80sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 21.80sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 21.80sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 21.80sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 21.80sINFOforce_torque_sensor_broadcasterconfigure successful + 21.81sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 21.81sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 21.81sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 21.81sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409573 ms (missed cycles : 3). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409573 ms (missed cycles : 3).[0m ×2 + 22.13sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 22.13sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 22.13sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 22.13sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 22.14sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 22.14sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 22.17sINFOros2-10process has finished cleanly [pid 9542] ×2 + 22.22sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 22.22sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 22.22sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 22.22sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 22.22sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 22.22sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 22.23sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 22.23sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 22.24sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 22.24sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 2219 particles 723 points - 3.440ms + 22.58sINFOros2-12process has finished cleanly [pid 9544] ×2 + 22.58sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.58sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 22.58sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 22.59sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.59sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 22.59sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 22.60sINFOlocal_costmap.local_costmapstart + 22.64sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 22.65sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 22.65sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 22.65sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 22.71sWARNcontroller_serverParameter controller_server.verbose not found + 22.71sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 22.71sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 22.81sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 22.81sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 22.81sINFOsmoother_serverActivating + 22.81sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 22.92sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 22.92sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 22.92sINFOplanner_serverActivating + 22.92sINFOglobal_costmap.global_costmapActivating + 22.92sINFOglobal_costmap.global_costmapChecking transform + 22.92sINFOglobal_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 1786075811.273902 but the earliest data is at time 1786075811.645153, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373196 ms (missed cycles : 3). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373196 ms (missed cycles : 3).[0m ×2 + 23.07sINFOros2_control_node[2026-08-07 04:10:11.447] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.07sINFOros2_control_node[2026-08-07 04:10:11.449] [info] Controller state will be published at 10 Hz. ×2 + 23.07sINFOros2_control_node[2026-08-07 04:10:11.450] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.42sINFOglobal_costmap.global_costmapstart + 23.43sINFOros2-18process has finished cleanly [pid 9568] ×2 + 23.44sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 23.44sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 23.44sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 23.44sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 23.44sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 23.44sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 23.54sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 23.54sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 23.54sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 23.55sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 23.55sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 23.55sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 23.55sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 23.55sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 23.55sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 23.55sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 23.55sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 23.55sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 23.55sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 23.55sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 23.56sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.95sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 23.95sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 23.95sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 23.95sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 23.95sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng + 23.95sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ob3hdyhh --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_dmpwgbz0 --params-file /tmp/launch_params_d9j5ypng [0m ×2 + 23.95sINFOros2-16process has finished cleanly [pid 9566] ×2 + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004042 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.004042 ms (missed cycles : 2).[0m ×2 + 24.02sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 24.02sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 24.02sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 24.02sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 24.02sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 24.02sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 24.03sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 24.03sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 24.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.37sINFOros2-11process has finished cleanly [pid 9543] ×2 + 24.47sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 24.47sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 24.58sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 24.58sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 24.58sINFObehavior_serverActivating + 24.58sINFObehavior_serverActivating spin + 24.58sINFObehavior_serverActivating backup + 24.58sINFObehavior_serverActivating drive_on_heading + 24.58sINFObehavior_serverActivating assisted_teleop + 24.58sINFObehavior_serverActivating wait + 24.58sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 24.68sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 24.68sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 24.68sINFObt_navigatorActivating + 24.73sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 24.84sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 24.84sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 24.84sINFOwaypoint_followerActivating + 24.84sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 24.94sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 24.94sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 24.94sINFOvelocity_smootherActivating + 24.94sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 25.05sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 25.05sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 25.05sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 25.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709826 ms (missed cycles : 2). + 25.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709826 ms (missed cycles : 2).[0m ×2 + 26.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 26.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 27.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 27.69sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 29.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.38sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.38sINFOmove_groupClearing octomap...[0m ×2 + 29.39sINFOmove_groupOctomap cleared.[0m ×2 + 29.39sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 29.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 29.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 29.95sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.96sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 30.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 30.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 30.51sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.67sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 31.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.26sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.26sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.26sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.29sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.29sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.30sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.30sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.31sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2

▾/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.5s	3 errors · 238 warnings · 211 info
+ 0.00sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 4.362ms + 0.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728799 ms (missed cycles : 4). + 0.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728799 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.312ms + 1.00sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 3.793ms + 1.50sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.837ms + 1.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249734 ms (missed cycles : 4). + 1.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249734 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.570ms + 2.50sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.350ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312502 ms (missed cycles : 3). + 2.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312502 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 3.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386225 ms (missed cycles : 4). + 3.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386225 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 4.09sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOjoint_trajectory_controllerGot request to cancel goal + 4.10sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.10sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.10sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.15sERRORobjective_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: 1786076026.01967669 seconds ×3 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 3.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.21sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.71) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 2.340ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692801 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692801 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786076026.57451987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.503ms + 5.11sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.343ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555945 ms (missed cycles : 3). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555945 ms (missed cycles : 3).[0m ×2 + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 6.20sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 6.228ms + 6.50sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 5.177ms + 6.74sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.80sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.809ms + 6.80sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.80sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.80sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.80sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910867 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910867 ms (missed cycles : 2).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1417 particles 723 points - 2.889ms + 7.70sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.919ms + 7.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456174 ms (missed cycles : 3). + 7.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.456174 ms (missed cycles : 3).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 8.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106964 ms (missed cycles : 4). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.106964 ms (missed cycles : 4).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 9.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2). + 9.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.689670 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 11.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390982 ms (missed cycles : 3). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390982 ms (missed cycles : 3).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.743ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 12.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707675 ms (missed cycles : 3). + 12.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707675 ms (missed cycles : 3).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283888 ms (missed cycles : 2). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.283888 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890158 ms (missed cycles : 2). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.890158 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331636 ms (missed cycles : 4). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.331636 ms (missed cycles : 4).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360823 ms (missed cycles : 3). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360823 ms (missed cycles : 3).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.589ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025534 ms (missed cycles : 2). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.025534 ms (missed cycles : 2).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 18.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475244 ms (missed cycles : 4). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.475244 ms (missed cycles : 4).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 19.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095169 ms (missed cycles : 2). + 19.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.095169 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.308ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718820 ms (missed cycles : 3). + 20.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718820 ms (missed cycles : 3).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787860 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787860 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 22.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480348 ms (missed cycles : 3). + 22.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480348 ms (missed cycles : 3).[0m ×2 + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 23.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236049 ms (missed cycles : 4). + 23.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236049 ms (missed cycles : 4).[0m ×2 + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 24.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189832 ms (missed cycles : 2). + 24.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189832 ms (missed cycles : 2).[0m ×2 + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 25.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812099 ms (missed cycles : 3). + 25.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.812099 ms (missed cycles : 3).[0m ×2 + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580185 ms (missed cycles : 3). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.580185 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 27.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635593 ms (missed cycles : 4). + 27.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.635593 ms (missed cycles : 4).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 29.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790763 ms (missed cycles : 3). + 29.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.790763 ms (missed cycles : 3).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 30.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531825 ms (missed cycles : 4). + 30.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531825 ms (missed cycles : 4).[0m ×2 + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362037 ms (missed cycles : 2). + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362037 ms (missed cycles : 2).[0m ×2 + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.222ms + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 32.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782561 ms (missed cycles : 2). + 32.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.782561 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628860 ms (missed cycles : 3). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628860 ms (missed cycles : 3).[0m ×2 + 34.03sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.03sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.22sINFOros2_control_nodeMuJoCo sim: 1.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002333 ms (missed cycles : 5). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.002333 ms (missed cycles : 5).[0m ×2 + 34.35sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.13sINFOobjective_server_nodePlanning for 27 path waypoints. ×3 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571393 ms (missed cycles : 2). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571393 ms (missed cycles : 2).[0m ×2 + 36.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301094 ms (missed cycles : 4). + 36.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301094 ms (missed cycles : 4).[0m ×2 + 37.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109941 ms (missed cycles : 2). + 37.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109941 ms (missed cycles : 2).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms ×2 + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 38.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016210 ms (missed cycles : 4). + 38.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016210 ms (missed cycles : 4).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.851ms + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 39.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262766 ms (missed cycles : 5). + 39.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.262766 ms (missed cycles : 5).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms ×2 + 40.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275125 ms (missed cycles : 3). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275125 ms (missed cycles : 3).[0m ×2 + 41.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123347 ms (missed cycles : 2). + 41.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123347 ms (missed cycles : 2).[0m ×2 + 42.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734303 ms (missed cycles : 3). + 42.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734303 ms (missed cycles : 3).[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108761 ms (missed cycles : 2). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.108761 ms (missed cycles : 2).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648077 ms (missed cycles : 2). + 44.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.648077 ms (missed cycles : 2).[0m ×2 + 45.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.340ms + 46.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161322 ms (missed cycles : 2). + 46.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.161322 ms (missed cycles : 2).[0m ×2 + 46.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 47.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031098 ms (missed cycles : 4). + 47.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031098 ms (missed cycles : 4).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 48.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889753 ms (missed cycles : 4). + 48.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889753 ms (missed cycles : 4).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 49.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447334 ms (missed cycles : 3). + 49.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.447334 ms (missed cycles : 3).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 50.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774323 ms (missed cycles : 3). + 50.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774323 ms (missed cycles : 3).[0m ×2 + 51.15sINFOobjective_server_nodePlanning for 44 path waypoints. ×3 + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376618 ms (missed cycles : 4). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.376618 ms (missed cycles : 4).[0m ×2 + 52.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668095 ms (missed cycles : 3). + 52.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668095 ms (missed cycles : 3).[0m ×2 + 53.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 53.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676753 ms (missed cycles : 2). + 53.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676753 ms (missed cycles : 2).[0m ×2 + 54.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783252 ms (missed cycles : 3). + 54.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783252 ms (missed cycles : 3).[0m ×2 + 55.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745352 ms (missed cycles : 4). + 55.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745352 ms (missed cycles : 4).[0m ×2 + 55.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 56.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552007 ms (missed cycles : 4). + 56.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.552007 ms (missed cycles : 4).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 57.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120953 ms (missed cycles : 3). + 57.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120953 ms (missed cycles : 3).[0m ×2 + 58.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243036 ms (missed cycles : 2). + 58.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243036 ms (missed cycles : 2).[0m ×2 + 59.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 59.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822399 ms (missed cycles : 3). + 59.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822399 ms (missed cycles : 3).[0m ×2 + 61.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693537 ms (missed cycles : 2). + 61.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.693537 ms (missed cycles : 2).[0m ×2 + 61.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 62.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815788 ms (missed cycles : 3). + 62.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815788 ms (missed cycles : 3).[0m ×2 + 62.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 63.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099240 ms (missed cycles : 3). + 63.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.099240 ms (missed cycles : 3).[0m ×2 + 64.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052465 ms (missed cycles : 2). + 64.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052465 ms (missed cycles : 2).[0m ×2 + 65.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 65.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859689 ms (missed cycles : 2). + 65.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.859689 ms (missed cycles : 2).[0m ×2 + 65.65sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 66.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586382 ms (missed cycles : 3). + 66.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.586382 ms (missed cycles : 3).[0m ×2 + 67.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974382 ms (missed cycles : 3). + 67.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.974382 ms (missed cycles : 3).[0m ×2 + 68.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556148 ms (missed cycles : 3). + 68.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556148 ms (missed cycles : 3).[0m ×2 + 69.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680508 ms (missed cycles : 3). + 69.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.680508 ms (missed cycles : 3).[0m ×2 + 70.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576116 ms (missed cycles : 3). + 70.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.576116 ms (missed cycles : 3).[0m ×2 + 70.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 71.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151047 ms (missed cycles : 2). + 71.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151047 ms (missed cycles : 2).[0m ×2 + 71.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 72.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 73.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094131 ms (missed cycles : 4). + 73.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094131 ms (missed cycles : 4).[0m ×2 + 73.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 74.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397918 ms (missed cycles : 4). + 74.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397918 ms (missed cycles : 4).[0m ×2 + 74.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 74.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 75.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509372 ms (missed cycles : 3). + 75.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509372 ms (missed cycles : 3).[0m ×2 + 75.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 76.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091482 ms (missed cycles : 2). + 76.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091482 ms (missed cycles : 2).[0m ×2 + 76.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 77.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745154 ms (missed cycles : 4). + 77.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745154 ms (missed cycles : 4).[0m ×2 + 77.62sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786076099.49470162 seconds ×3 + 77.71sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 13.91) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 77.71sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.48) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 77.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 77.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 78.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786076100.06621718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681806 ms (missed cycles : 2). + 78.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681806 ms (missed cycles : 2).[0m ×2 + 78.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.761ms + 78.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 79.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 79.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 80.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.3s	189 warnings · 165 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786075863.25818086 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786075863.81293845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.5377e-05 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.67sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.67sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.67sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404165 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404165 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786075867.01306772 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786075867.57032871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347799 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347799 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107306 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107306 ms (missed cycles : 3).[0m ×2 + 6.71sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323575 ms (missed cycles : 2). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323575 ms (missed cycles : 2).[0m ×2 + 7.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664059 ms (missed cycles : 3). + 7.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664059 ms (missed cycles : 3).[0m ×2 + 8.73sINFOamclParticle filter update iteration stats: 1861 particles 723 points - 2.185ms + 8.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562419 ms (missed cycles : 3). + 8.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562419 ms (missed cycles : 3).[0m ×2 + 9.33sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 1.876ms + 9.83sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.581ms + 10.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287654 ms (missed cycles : 2). + 10.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.287654 ms (missed cycles : 2).[0m ×2 + 10.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 10.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 11.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408589 ms (missed cycles : 4). + 11.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.408589 ms (missed cycles : 4).[0m ×2 + 11.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 11.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.560ms + 12.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144135 ms (missed cycles : 3). + 12.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.144135 ms (missed cycles : 3).[0m ×2 + 12.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 12.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 12.83sINFOros2_control_nodeMuJoCo sim: 0.08% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670287 ms (missed cycles : 3). + 13.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.670287 ms (missed cycles : 3).[0m ×2 + 13.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.017ms + 13.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 14.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007597 ms (missed cycles : 2). + 14.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.007597 ms (missed cycles : 2).[0m ×2 + 14.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 14.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 15.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 15.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697623 ms (missed cycles : 3). + 15.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697623 ms (missed cycles : 3).[0m ×2 + 15.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 16.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344025 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344025 ms (missed cycles : 3).[0m ×2 + 16.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 17.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 17.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716172 ms (missed cycles : 3). + 17.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716172 ms (missed cycles : 3).[0m ×2 + 17.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 18.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 18.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613609 ms (missed cycles : 2). + 18.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.613609 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 19.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060902 ms (missed cycles : 2). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060902 ms (missed cycles : 2).[0m ×2 + 19.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 20.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135179 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.135179 ms (missed cycles : 3).[0m ×2 + 20.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms ×2 + 21.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 21.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 21.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886135 ms (missed cycles : 2). + 21.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.886135 ms (missed cycles : 2).[0m ×2 + 22.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 23.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166562 ms (missed cycles : 5). + 23.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.166562 ms (missed cycles : 5).[0m ×2 + 23.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 23.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678810 ms (missed cycles : 3). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.678810 ms (missed cycles : 3).[0m ×2 + 24.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 24.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.375ms + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449289 ms (missed cycles : 4). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.449289 ms (missed cycles : 4).[0m ×2 + 25.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 25.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821607 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821607 ms (missed cycles : 3).[0m ×2 + 26.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853947 ms (missed cycles : 3). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.853947 ms (missed cycles : 3).[0m ×2 + 27.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.515ms + 27.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.834ms + 28.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454797 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.454797 ms (missed cycles : 3).[0m ×2 + 28.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 29.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 29.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730711 ms (missed cycles : 3). + 29.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730711 ms (missed cycles : 3).[0m ×2 + 29.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 30.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989836 ms (missed cycles : 3). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.989836 ms (missed cycles : 3).[0m ×2 + 30.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 31.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018876 ms (missed cycles : 3). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.018876 ms (missed cycles : 3).[0m ×2 + 31.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 32.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 32.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735787 ms (missed cycles : 4). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.735787 ms (missed cycles : 4).[0m ×2 + 32.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 33.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 33.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605617 ms (missed cycles : 2). + 33.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.605617 ms (missed cycles : 2).[0m ×2 + 34.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 34.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720478 ms (missed cycles : 3). + 34.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.720478 ms (missed cycles : 3).[0m ×2 + 35.47sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.47sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221318 ms (missed cycles : 4). + 35.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.221318 ms (missed cycles : 4).[0m ×2 + 35.93sWARNros2_control_nodeCamera render tick took 0.54 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 35.95sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.56 s); wrist_camera (0.56 s). Behaviors waiting on those points topics will time out.[0m ×2 + 36.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096139 ms (missed cycles : 2). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096139 ms (missed cycles : 2).[0m ×2 + 37.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014515 ms (missed cycles : 3). + 37.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014515 ms (missed cycles : 3).[0m ×2 + 38.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765155 ms (missed cycles : 3). + 38.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.765155 ms (missed cycles : 3).[0m ×2 + 39.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977789 ms (missed cycles : 4). + 39.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.977789 ms (missed cycles : 4).[0m ×2 + 41.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479154 ms (missed cycles : 4). + 41.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.479154 ms (missed cycles : 4).[0m ×2 + 41.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 42.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923479 ms (missed cycles : 4). + 42.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.923479 ms (missed cycles : 4).[0m ×2 + 43.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337439 ms (missed cycles : 2). + 43.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.337439 ms (missed cycles : 2).[0m ×2 + 43.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 44.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189100 ms (missed cycles : 4). + 44.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.189100 ms (missed cycles : 4).[0m ×2 + 45.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283182 ms (missed cycles : 4). + 45.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 45.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.283182 ms (missed cycles : 4).[0m ×2 + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554985 ms (missed cycles : 3). + 46.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554985 ms (missed cycles : 3).[0m ×2 + 47.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382029 ms (missed cycles : 4). + 47.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.382029 ms (missed cycles : 4).[0m ×2 + 48.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001246 ms (missed cycles : 4). + 48.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001246 ms (missed cycles : 4).[0m ×2 + 49.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 49.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617329 ms (missed cycles : 2). + 49.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.617329 ms (missed cycles : 2).[0m ×2 + 50.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485742 ms (missed cycles : 3). + 50.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.485742 ms (missed cycles : 3).[0m ×2 + 51.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177556 ms (missed cycles : 2). + 51.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177556 ms (missed cycles : 2).[0m ×2 + 52.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 53.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517540 ms (missed cycles : 4). + 53.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.517540 ms (missed cycles : 4).[0m ×2 + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834315 ms (missed cycles : 4). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.834315 ms (missed cycles : 4).[0m ×2 + 55.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450333 ms (missed cycles : 4). + 55.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450333 ms (missed cycles : 4).[0m ×2 + 56.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661271 ms (missed cycles : 4). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.661271 ms (missed cycles : 4).[0m ×2 + 57.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 57.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 58.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 58.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 59.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 59.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 60.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 60.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 60.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 61.10sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 61.23sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 61.24sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.24sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 61.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 61.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 61.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 61.68sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 62.05sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 62.08sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 62.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 63.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 63.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 63.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	185 warnings · 150 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.38sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.38sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×8 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.19sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2 + 7.31sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431586 ms (missed cycles : 3). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.431586 ms (missed cycles : 3).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791511 ms (missed cycles : 2). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791511 ms (missed cycles : 2).[0m ×2 + 9.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.158ms + 9.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779625 ms (missed cycles : 3). + 9.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779625 ms (missed cycles : 3).[0m ×2 + 10.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.459ms + 10.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.238ms + 10.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791663 ms (missed cycles : 3). + 10.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791663 ms (missed cycles : 3).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.403ms + 11.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.120ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225242 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.225242 ms (missed cycles : 2).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.485ms + 12.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.744ms + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050405 ms (missed cycles : 4). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.050405 ms (missed cycles : 4).[0m ×2 + 13.24sINFOamclParticle filter update iteration stats: 4083 particles 723 points - 5.424ms + 13.74sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 5.118ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899095 ms (missed cycles : 3). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899095 ms (missed cycles : 3).[0m ×2 + 14.24sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.431ms + 14.74sINFOamclParticle filter update iteration stats: 1204 particles 723 points - 2.325ms + 14.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430265 ms (missed cycles : 3). + 14.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.430265 ms (missed cycles : 3).[0m ×2 + 15.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.586ms + 15.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 15.96sINFOros2_control_nodeMuJoCo sim: 2.06% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984684 ms (missed cycles : 2). + 15.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984684 ms (missed cycles : 2).[0m ×2 + 16.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 16.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 17.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585533 ms (missed cycles : 3). + 17.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.585533 ms (missed cycles : 3).[0m ×2 + 17.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 17.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 18.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917243 ms (missed cycles : 3). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917243 ms (missed cycles : 3).[0m ×2 + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 19.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843856 ms (missed cycles : 3). + 19.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.843856 ms (missed cycles : 3).[0m ×2 + 19.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 19.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 20.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.620ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337381 ms (missed cycles : 4). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337381 ms (missed cycles : 4).[0m ×2 + 20.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 21.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 21.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753818 ms (missed cycles : 3). + 21.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753818 ms (missed cycles : 3).[0m ×2 + 21.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 22.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 22.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268040 ms (missed cycles : 2). + 22.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.268040 ms (missed cycles : 2).[0m ×2 + 22.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms ×2 + 23.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700644 ms (missed cycles : 3). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700644 ms (missed cycles : 3).[0m ×2 + 23.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.076ms + 24.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 24.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266786 ms (missed cycles : 4). + 24.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266786 ms (missed cycles : 4).[0m ×2 + 24.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.184ms + 25.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 25.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924551 ms (missed cycles : 2). + 25.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.924551 ms (missed cycles : 2).[0m ×2 + 25.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 26.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314939 ms (missed cycles : 2). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.314939 ms (missed cycles : 2).[0m ×2 + 26.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms ×2 + 27.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 27.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700571 ms (missed cycles : 2). + 27.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700571 ms (missed cycles : 2).[0m ×2 + 27.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 28.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 28.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822258 ms (missed cycles : 3). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.822258 ms (missed cycles : 3).[0m ×2 + 29.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 29.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270755 ms (missed cycles : 4). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270755 ms (missed cycles : 4).[0m ×2 + 30.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998312 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998312 ms (missed cycles : 2).[0m ×2 + 31.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 31.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547730 ms (missed cycles : 4). + 31.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.547730 ms (missed cycles : 4).[0m ×2 + 32.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 32.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943124 ms (missed cycles : 3). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.943124 ms (missed cycles : 3).[0m ×2 + 33.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 33.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.267ms + 34.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836094 ms (missed cycles : 5). + 34.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.836094 ms (missed cycles : 5).[0m ×2 + 34.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047991 ms (missed cycles : 5). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.047991 ms (missed cycles : 5).[0m ×2 + 35.78sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.78sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053675 ms (missed cycles : 4). + 36.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053675 ms (missed cycles : 4).[0m ×2 + 37.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782872 ms (missed cycles : 3). + 37.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.782872 ms (missed cycles : 3).[0m ×2 + 37.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 38.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009975 ms (missed cycles : 4). + 38.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009975 ms (missed cycles : 4).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756420 ms (missed cycles : 3). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756420 ms (missed cycles : 3).[0m ×2 + 40.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 40.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038946 ms (missed cycles : 2). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038946 ms (missed cycles : 2).[0m ×2 + 41.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783607 ms (missed cycles : 3). + 41.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783607 ms (missed cycles : 3).[0m ×2 + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579017 ms (missed cycles : 2). + 42.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579017 ms (missed cycles : 2).[0m ×2 + 42.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 43.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698206 ms (missed cycles : 2). + 43.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698206 ms (missed cycles : 2).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343778 ms (missed cycles : 4). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.343778 ms (missed cycles : 4).[0m ×2 + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840422 ms (missed cycles : 2). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840422 ms (missed cycles : 2).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415384 ms (missed cycles : 3). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.415384 ms (missed cycles : 3).[0m ×2 + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804516 ms (missed cycles : 3). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.804516 ms (missed cycles : 3).[0m ×2 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821355 ms (missed cycles : 3). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.821355 ms (missed cycles : 3).[0m ×2 + 49.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 49.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897849 ms (missed cycles : 3). + 49.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897849 ms (missed cycles : 3).[0m ×2 + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084331 ms (missed cycles : 3). + 51.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084331 ms (missed cycles : 3).[0m ×2 + 52.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783071 ms (missed cycles : 3). + 52.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.783071 ms (missed cycles : 3).[0m ×2 + 52.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 53.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113302 ms (missed cycles : 3). + 53.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.113302 ms (missed cycles : 3).[0m ×2 + 54.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382595 ms (missed cycles : 3). + 54.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.382595 ms (missed cycles : 3).[0m ×2 + 55.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708449 ms (missed cycles : 3). + 55.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708449 ms (missed cycles : 3).[0m ×2 + 56.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735158 ms (missed cycles : 3). + 56.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735158 ms (missed cycles : 3).[0m ×2 + 56.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 57.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173320 ms (missed cycles : 4). + 57.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173320 ms (missed cycles : 4).[0m ×2 + 58.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424091 ms (missed cycles : 2). + 58.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424091 ms (missed cycles : 2).[0m ×2 + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705041 ms (missed cycles : 2). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705041 ms (missed cycles : 2).[0m ×2 + 60.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 60.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267348 ms (missed cycles : 3). + 60.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267348 ms (missed cycles : 3).[0m ×2 + 61.43sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786076161.56207013 seconds ×3 + 61.54sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 61.55sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 12.13) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.55sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124406 ms (missed cycles : 2). + 61.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124406 ms (missed cycles : 2).[0m ×2 + 61.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.763ms + 61.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 62.00sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786076162.13518238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.949ms + 62.37sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 62.40sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217098 ms (missed cycles : 2). + 62.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217098 ms (missed cycles : 2).[0m ×2 + 63.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568559 ms (missed cycles : 3). + 63.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568559 ms (missed cycles : 3).[0m ×2 + 64.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.276ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.9s	177 warnings · 165 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms ×2 + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms ×2 + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786075961.41668630 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.646ms + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.22) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.21) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.756ms + 4.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786075961.99308777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.119ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.635ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.604ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.098ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.227ms + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.99sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583676 ms (missed cycles : 4). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.583676 ms (missed cycles : 4).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.557ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.053ms + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.712ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816612 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816612 ms (missed cycles : 3).[0m ×2 + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.779ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886819 ms (missed cycles : 2). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886819 ms (missed cycles : 2).[0m ×2 + 10.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.157ms + 10.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453909 ms (missed cycles : 3). + 10.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.453909 ms (missed cycles : 3).[0m ×2 + 10.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 11.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.871ms + 11.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218153 ms (missed cycles : 3). + 11.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218153 ms (missed cycles : 3).[0m ×2 + 11.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.994ms + 12.11sINFOamclParticle filter update iteration stats: 4280 particles 723 points - 8.440ms + 12.61sINFOamclParticle filter update iteration stats: 3606 particles 723 points - 4.944ms + 12.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743279 ms (missed cycles : 2). + 12.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743279 ms (missed cycles : 2).[0m ×2 + 13.09sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 5.417ms + 13.60sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 3.020ms + 13.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552550 ms (missed cycles : 3). + 13.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.552550 ms (missed cycles : 3).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1840 particles 723 points - 3.363ms + 14.60sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.927ms + 14.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420948 ms (missed cycles : 3). + 14.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420948 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.538ms + 15.60sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.247ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556404 ms (missed cycles : 3). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.556404 ms (missed cycles : 3).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.153ms + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462199 ms (missed cycles : 4). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.462199 ms (missed cycles : 4).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150802 ms (missed cycles : 2). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150802 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426435 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.426435 ms (missed cycles : 3).[0m ×2 + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 20.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071087 ms (missed cycles : 4). + 20.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071087 ms (missed cycles : 4).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685367 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.685367 ms (missed cycles : 2).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.487ms + 22.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486116 ms (missed cycles : 4). + 22.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486116 ms (missed cycles : 4).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.853ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267753 ms (missed cycles : 4). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.267753 ms (missed cycles : 4).[0m ×2 + 23.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.105ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969033 ms (missed cycles : 3). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969033 ms (missed cycles : 3).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 25.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185505 ms (missed cycles : 4). + 25.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.185505 ms (missed cycles : 4).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.253ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815432 ms (missed cycles : 2). + 26.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815432 ms (missed cycles : 2).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 27.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945327 ms (missed cycles : 5). + 27.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.945327 ms (missed cycles : 5).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 28.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215777 ms (missed cycles : 4). + 28.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.215777 ms (missed cycles : 4).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.197ms + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173812 ms (missed cycles : 4). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173812 ms (missed cycles : 4).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723226 ms (missed cycles : 3). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.723226 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.367ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.284ms + 31.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814075 ms (missed cycles : 2). + 31.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814075 ms (missed cycles : 2).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.749ms + 32.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 32.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386719 ms (missed cycles : 4). + 32.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386719 ms (missed cycles : 4).[0m ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630829 ms (missed cycles : 3). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630829 ms (missed cycles : 3).[0m ×2 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450765 ms (missed cycles : 4). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450765 ms (missed cycles : 4).[0m ×2 + 36.11sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939945 ms (missed cycles : 2). + 36.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.939945 ms (missed cycles : 2).[0m ×2 + 36.85sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.85sINFOobjective_server_nodePlanning for 48 path waypoints. ×3 + 37.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015108 ms (missed cycles : 3). + 37.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015108 ms (missed cycles : 3).[0m ×2 + 37.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 38.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929904 ms (missed cycles : 4). + 38.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.929904 ms (missed cycles : 4).[0m ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.719ms + 38.91sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273424 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.273424 ms (missed cycles : 3).[0m ×2 + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 40.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 40.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495985 ms (missed cycles : 4). + 40.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495985 ms (missed cycles : 4).[0m ×2 + 40.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.050ms + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 41.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041442 ms (missed cycles : 3). + 41.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041442 ms (missed cycles : 3).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 42.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913011 ms (missed cycles : 3). + 42.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.913011 ms (missed cycles : 3).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817878 ms (missed cycles : 3). + 43.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817878 ms (missed cycles : 3).[0m ×2 + 44.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740334 ms (missed cycles : 3). + 44.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.740334 ms (missed cycles : 3).[0m ×2 + 45.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295902 ms (missed cycles : 4). + 45.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.295902 ms (missed cycles : 4).[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 46.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467897 ms (missed cycles : 4). + 46.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.467897 ms (missed cycles : 4).[0m ×2 + 47.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 48.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656270 ms (missed cycles : 3). + 48.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.656270 ms (missed cycles : 3).[0m ×2 + 48.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 49.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727756 ms (missed cycles : 3). + 49.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727756 ms (missed cycles : 3).[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 50.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996333 ms (missed cycles : 4). + 50.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996333 ms (missed cycles : 4).[0m ×2 + 50.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802872 ms (missed cycles : 3). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.802872 ms (missed cycles : 3).[0m ×2 + 51.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722797 ms (missed cycles : 3). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.722797 ms (missed cycles : 3).[0m ×2 + 52.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 53.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338222 ms (missed cycles : 4). + 53.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.338222 ms (missed cycles : 4).[0m ×2 + 53.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 54.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774294 ms (missed cycles : 3). + 54.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774294 ms (missed cycles : 3).[0m ×2 + 55.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892052 ms (missed cycles : 3). + 55.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892052 ms (missed cycles : 3).[0m ×2 + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397892 ms (missed cycles : 3). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397892 ms (missed cycles : 3).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071006 ms (missed cycles : 4). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071006 ms (missed cycles : 4).[0m ×2 + 58.20sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786076015.36322165 seconds ×3 + 58.31sWARNlocal_costmap.local_costmapSensor origin at (-1.95, 10.77) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 58.31sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.34) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 58.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.895ms + 58.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 58.75sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786076015.92135739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 58.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500475 ms (missed cycles : 4). + 58.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500475 ms (missed cycles : 4).[0m ×2 + 59.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.487ms + 59.26sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 59.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.596ms + 59.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 59.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.347ms + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501292 ms (missed cycles : 3). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501292 ms (missed cycles : 3).[0m ×2 + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.504ms + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.638ms + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.216ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	147 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858236 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858236 ms (missed cycles : 2).[0m ×2 + 7.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315242 ms (missed cycles : 2). + 7.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315242 ms (missed cycles : 2).[0m ×2 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041206 ms (missed cycles : 2). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041206 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682234 ms (missed cycles : 2). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.682234 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627425 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.627425 ms (missed cycles : 3).[0m ×2 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464831 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464831 ms (missed cycles : 3).[0m ×2 + 12.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718358 ms (missed cycles : 3). + 12.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.718358 ms (missed cycles : 3).[0m ×2 + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840868 ms (missed cycles : 2). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840868 ms (missed cycles : 2).[0m ×2 + 15.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533657 ms (missed cycles : 3). + 15.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.533657 ms (missed cycles : 3).[0m ×2 + 16.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989432 ms (missed cycles : 2). + 16.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989432 ms (missed cycles : 2).[0m ×2 + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794875 ms (missed cycles : 2). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.794875 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245206 ms (missed cycles : 2). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.245206 ms (missed cycles : 2).[0m ×2 + 19.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213245 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213245 ms (missed cycles : 2).[0m ×2 + 20.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708694 ms (missed cycles : 3). + 20.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.708694 ms (missed cycles : 3).[0m ×2 + 20.64sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.239ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784503 ms (missed cycles : 2). + 21.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.784503 ms (missed cycles : 2).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042697 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.042697 ms (missed cycles : 2).[0m ×2 + 23.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531093 ms (missed cycles : 3). + 23.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531093 ms (missed cycles : 3).[0m ×2 + 24.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322411 ms (missed cycles : 3). + 24.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322411 ms (missed cycles : 3).[0m ×2 + 25.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613666 ms (missed cycles : 3). + 25.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.613666 ms (missed cycles : 3).[0m ×2 + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565786 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565786 ms (missed cycles : 3).[0m ×2 + 27.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982510 ms (missed cycles : 2). + 27.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.982510 ms (missed cycles : 2).[0m ×2 + 28.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957386 ms (missed cycles : 3). + 28.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.957386 ms (missed cycles : 3).[0m ×2 + 29.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294028 ms (missed cycles : 2). + 29.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294028 ms (missed cycles : 2).[0m ×2 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928586 ms (missed cycles : 3). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.928586 ms (missed cycles : 3).[0m ×2 + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319044 ms (missed cycles : 2). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319044 ms (missed cycles : 2).[0m ×2 + 32.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978754 ms (missed cycles : 2). + 32.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.978754 ms (missed cycles : 2).[0m ×2 + 33.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248678 ms (missed cycles : 2). + 33.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248678 ms (missed cycles : 2).[0m ×2 + 35.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639398 ms (missed cycles : 3). + 35.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.639398 ms (missed cycles : 3).[0m ×2 + 36.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925477 ms (missed cycles : 3). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925477 ms (missed cycles : 3).[0m ×2 + 37.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855088 ms (missed cycles : 2). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.855088 ms (missed cycles : 2).[0m ×2 + 38.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591469 ms (missed cycles : 2). + 38.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.591469 ms (missed cycles : 2).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015647 ms (missed cycles : 2). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015647 ms (missed cycles : 2).[0m ×2 + 40.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000631 ms (missed cycles : 3). + 40.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.000631 ms (missed cycles : 3).[0m ×2 + 41.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054812 ms (missed cycles : 2). + 41.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054812 ms (missed cycles : 2).[0m ×2 + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213171 ms (missed cycles : 2). + 42.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.213171 ms (missed cycles : 2).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819535 ms (missed cycles : 2). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819535 ms (missed cycles : 2).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2).[0m ×2 + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2).[0m ×2 + 46.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2). + 46.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2).[0m ×2 + 47.51sINFOjoint_trajectory_controllerGoal reached, success! + 47.51sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786075863.25818086 seconds ×3 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2). + 47.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2).[0m ×2 + 48.08sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786075863.81293845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 48.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 49.15sINFOobjective_server_nodeFound path in 0 iterations (2.5377e-05 s). ×2 + 49.15sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3). + 50.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	112 warnings · 123 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354087 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354087 ms (missed cycles : 2).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.852ms + 3.11sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.11sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857481 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857481 ms (missed cycles : 2).[0m ×2 + 3.15sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786075929.03320718 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407930 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407930 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786075930.60653615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.14sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150151 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150151 ms (missed cycles : 4).[0m ×2 + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535136 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535136 ms (missed cycles : 2).[0m ×2 + 7.07sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.12sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.12sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.12sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.12sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498353 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.498353 ms (missed cycles : 3).[0m ×2 + 8.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875238 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875238 ms (missed cycles : 3).[0m ×2 + 9.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.040ms + 9.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.103ms + 9.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685004 ms (missed cycles : 3). + 9.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.685004 ms (missed cycles : 3).[0m ×2 + 10.19sINFOros2_control_nodeMuJoCo sim: 0.57% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.584ms + 10.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735153 ms (missed cycles : 2). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735153 ms (missed cycles : 2).[0m ×2 + 11.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.663ms + 11.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.707ms + 12.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735421 ms (missed cycles : 3). + 12.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735421 ms (missed cycles : 3).[0m ×2 + 12.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.555ms + 12.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.083ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684989 ms (missed cycles : 3). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684989 ms (missed cycles : 3).[0m ×2 + 13.29sINFOamclParticle filter update iteration stats: 4849 particles 723 points - 8.805ms + 13.79sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 7.141ms + 14.29sINFOamclParticle filter update iteration stats: 3086 particles 723 points - 4.536ms + 14.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148066 ms (missed cycles : 2). + 14.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.148066 ms (missed cycles : 2).[0m ×2 + 14.79sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 4.866ms + 15.28sINFOamclParticle filter update iteration stats: 2408 particles 723 points - 2.972ms + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100065 ms (missed cycles : 2). + 15.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100065 ms (missed cycles : 2).[0m ×2 + 15.79sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 2.542ms + 16.28sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 2.749ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165341 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.165341 ms (missed cycles : 3).[0m ×2 + 16.78sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.346ms + 17.27sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 2.874ms + 17.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276665 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.276665 ms (missed cycles : 2).[0m ×2 + 17.78sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.422ms + 18.28sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.862ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667535 ms (missed cycles : 3). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.667535 ms (missed cycles : 3).[0m ×2 + 18.78sINFOamclParticle filter update iteration stats: 1033 particles 723 points - 1.772ms + 19.28sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.913ms + 19.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308895 ms (missed cycles : 2). + 19.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.308895 ms (missed cycles : 2).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.905ms + 20.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 20.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346460 ms (missed cycles : 2). + 20.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346460 ms (missed cycles : 2).[0m ×2 + 20.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 21.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 21.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854230 ms (missed cycles : 3). + 21.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.854230 ms (missed cycles : 3).[0m ×2 + 21.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.162ms + 22.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 22.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369316 ms (missed cycles : 3). + 22.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369316 ms (missed cycles : 3).[0m ×2 + 22.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 23.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 23.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 23.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796086 ms (missed cycles : 3). + 23.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.796086 ms (missed cycles : 3).[0m ×2 + 24.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 24.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079806 ms (missed cycles : 4). + 24.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.079806 ms (missed cycles : 4).[0m ×2 + 25.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 25.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379669 ms (missed cycles : 3). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.379669 ms (missed cycles : 3).[0m ×2 + 26.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 26.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787937 ms (missed cycles : 2). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787937 ms (missed cycles : 2).[0m ×2 + 27.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.496ms + 27.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 28.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637950 ms (missed cycles : 3). + 28.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.637950 ms (missed cycles : 3).[0m ×2 + 28.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 28.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 29.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947499 ms (missed cycles : 3). + 29.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.947499 ms (missed cycles : 3).[0m ×2 + 29.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742540 ms (missed cycles : 3). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742540 ms (missed cycles : 3).[0m ×2 + 30.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 30.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 31.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864018 ms (missed cycles : 5). + 31.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.864018 ms (missed cycles : 5).[0m ×2 + 31.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 31.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 32.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3). + 32.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3).[0m ×2 + 32.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 32.78sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4).[0m ×2 + 33.28sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 33.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 34.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3). + 34.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3).[0m ×2 + 34.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4).[0m ×2 + 35.53sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786075961.41668630 seconds ×3 + 35.60sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.60sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.646ms + 35.70sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.22) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.70sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.21) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.756ms + 36.11sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786075961.99308777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3). + 36.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3).[0m ×2 + 36.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 36.52sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 36.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.119ms + 36.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.635ms + 37.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.604ms + 37.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3). + 37.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3).[0m ×2 + 37.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 37.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.098ms + 38.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.227ms + 38.20sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.9s	62 warnings · 136 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173320 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.173320 ms (missed cycles : 4).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424091 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424091 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705041 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.705041 ms (missed cycles : 2).[0m ×2 + 3.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267348 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267348 ms (missed cycles : 3).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.00sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.05sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786076161.56207013 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 4.16sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 12.13) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.16sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.16) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124406 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.124406 ms (missed cycles : 2).[0m ×2 + 4.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.763ms + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.928ms + 4.62sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786076162.13518238 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.949ms + 4.98sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×4 + 5.01sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217098 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217098 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568559 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.568559 ms (missed cycles : 3).[0m ×2 + 6.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.276ms + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934924 ms (missed cycles : 2). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934924 ms (missed cycles : 2).[0m ×2 + 7.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.601ms + 8.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344206 ms (missed cycles : 3). + 8.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344206 ms (missed cycles : 3).[0m ×2 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.799652 ms (missed cycles : 2).[0m ×2 + 9.48sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.52sINFOobjective_server_nodeFound path in 0 iterations (1.087e-06 s). ×2 + 9.56sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 9.60sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 9.66sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.71sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 9.87sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.92sINFOobjective_server_nodeFound path in 0 iterations (2.76e-07 s). ×2 + 10.10sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 10.20sINFOobjective_server_nodeFound path in 29 iterations (0.0474235 s). ×2 + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966427 ms (missed cycles : 3). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.966427 ms (missed cycles : 3).[0m ×2 + 10.58sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] ×2 + 10.65sINFOobjective_server_nodeFound path in 0 iterations (3.81e-07 s). ×2 + 11.10sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.16sINFOobjective_server_nodeFound path in 0 iterations (6.53e-07 s). ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822672 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.822672 ms (missed cycles : 3).[0m ×2 + 11.63sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.91sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696931 ms (missed cycles : 2). + 12.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.696931 ms (missed cycles : 2).[0m ×2 + 13.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195597 ms (missed cycles : 2). + 13.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.195597 ms (missed cycles : 2).[0m ×2 + 13.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.676ms + 14.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 14.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773881 ms (missed cycles : 3). + 14.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773881 ms (missed cycles : 3).[0m ×2 + 14.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.101ms + 15.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2).[0m ×2 + 16.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3).[0m ×2 + 16.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.215ms + 17.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3). + 17.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3).[0m ×2 + 17.91sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786076175.42932224 seconds ×3 + 18.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.177ms + 18.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 18.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.157ms + 18.51sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076176.02627802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.51sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.51sINFOmove_groupClearing octomap...[0m ×2 + 18.51sINFOmove_groupOctomap cleared.[0m ×2 + 18.58sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2). + 18.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2).[0m ×2 + 18.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.312ms + 19.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.991ms + 19.22sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076176.73640776 seconds ×3 + 19.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 19.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.123ms + 19.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3). + 19.77sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076177.28914261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3).[0m ×2 + 19.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 20.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.219ms + 20.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076177.92927575 seconds ×3 + 20.56sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 5.635ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	12.0s	90 errors · 36 warnings · 401 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.101ms + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 1.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3). + 1.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.215ms + 2.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3). + 2.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786076175.42932224 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.177ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.157ms + 3.55sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076176.02627802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.312ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.991ms + 4.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076176.73640776 seconds ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.123ms + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3). + 4.82sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076177.28914261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.219ms + 5.46sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076177.92927575 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 5.635ms + 5.70sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009166 ms (missed cycles : 2). + 6.00sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 4.607ms + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009166 ms (missed cycles : 2).[0m ×2 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616416 ms (missed cycles : 3). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616416 ms (missed cycles : 3).[0m ×2 + 8.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773509 ms (missed cycles : 3). + 8.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773509 ms (missed cycles : 3).[0m ×2 + 9.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808086 ms (missed cycles : 2). + 9.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808086 ms (missed cycles : 2).[0m ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868424 ms (missed cycles : 2). + 10.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.868424 ms (missed cycles : 2).[0m ×2 + 11.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511636 ms (missed cycles : 3). + 11.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511636 ms (missed cycles : 3).[0m ×2 + 11.91sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.95sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORweb_video_auth_proxy-35process has died [pid 9588, 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 + 11.96sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.97sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.99sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.99sERRORweb_bridge_auth_proxy-34process has died [pid 9587, 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 + 11.99sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.00sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.01sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.02sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.02sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.02sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.03sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.04sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.05sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 12.06sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 12.08sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 12.12sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 12.15sINFOvideo_server-33process has finished cleanly [pid 9586] ×2 + 12.16sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 12.19sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 12.22sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 12.25sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 12.28sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.29sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 12.32sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.35sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.38sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9585] ×2 + 12.39sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189341 ms (missed cycles : 2). + 12.42sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.45sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.49sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.49sINFOcontroller_managerShutdown request received.... + 12.49sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.49sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.49sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.49sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.49sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.49sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.49sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.49sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.49sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.49sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.49sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.49sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.49sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.49sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.49sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.49sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.49sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.49sINFOcontroller_managerShutting down the controller manager. + 12.51sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.52sINFOui_teleop_bridge-30process has finished cleanly [pid 9583] ×2 + 12.52sERRORmove_group-21process has died [pid 9571, 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_wvk77ch6 --params-file /tmp/launch_params_422bh7cj --params-file /tmp/launch_params_37u3uc9g --params-file /tmp/launch_params_ro4hws88 --params-file /tmp/launch_params_fta3lrb9 --params-file /tmp/launch_params_o6px5k4z']. ×2 + 12.54sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.54sINFOcomponent_container_mt-28process has finished cleanly [pid 9581] ×2 + 12.56sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.57sINFOexecute_objective_bridge-29process has finished cleanly [pid 9582] ×2 + 12.57sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786076184.745 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.59sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.61sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.63sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.66sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.66sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.66sINFOmap_serverDeactivating + 12.66sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.67sINFOmap_serverCleaning up + 12.67sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.67sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.69sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.69sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.69sINFOcontroller_serverDeactivating + 12.69sERRORamclThe bond connection to the lifecycle manager has been broken + 12.69sINFOlocal_costmap.local_costmapDeactivating + 12.69sINFOvideo_server2026/08/07 04:16:24 INF shutting down gracefully ×2 + 12.69sINFOvideo_server2026/08/07 04:16:24 INF [WebRTC] closing ×2 + 12.69sINFOvideo_server2026/08/07 04:16:24 INF [RTSP] closing ×2 + 12.69sINFOvideo_server2026/08/07 04:16:24 INF waiting for running hooks ×2 + 12.69sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.70sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.70sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.70sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.70sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.70sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.70sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.70sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.70sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189341 ms (missed cycles : 2).[0m ×2 + 12.71sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.71sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.71sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.71sERRORmove_groupStack trace (most recent call last) in thread 10187: ×2 + 12.71sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.71sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f02e030aa63, in __clone ×2 + 12.71sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f02e027daa3, in ×2 + 12.71sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f02e050fdb3, in ×2 + 12.71sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f02e0c7bed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.71sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f02e08a1620, in rclcpp::Rate::sleep() ×2 + 12.71sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f02e07e3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.71sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f02e07a5087, in ×2 + 12.71sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f02e04de390, in __cxa_throw ×2 + 12.71sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f02e04c8a54, in std::terminate() ×2 + 12.71sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f02e04de0d9, in ×2 + 12.71sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f02e04c8ff4, in ×2 + 12.71sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f02e02098fe, in abort ×2 + 12.71sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f02e022627d, in raise ×2 + 12.71sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f02e027fb2c, in pthread_kill ×2 + 12.71sERRORmove_groupAborted (Signal sent by tkill() 9571 0) ×2 + 12.71sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.71sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.71sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.71sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.71sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.71sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.71sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.71sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.71sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.71sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.71sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.71sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.71sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.71sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.71sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.71sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.72sINFOcontroller_serverCleaning up + 12.72sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.72sINFOlocal_costmap.local_costmapCleaning up + 12.72sINFOodom_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 + 12.72sINFOodom_qos_relay.pymain() ×2 + 12.72sINFOodom_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 + 12.72sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.72sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.72sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.72sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.72sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.72sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.72sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.72sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.72sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.72sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.72sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.72sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.72sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.75sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.75sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.75sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.75sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.75sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.75sINFOvelocity_smootherDeactivating + 12.75sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.76sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.76sINFOsmoother_serverDeactivating + 12.76sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.77sINFOsmoother_serverCleaning up + 12.79sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.79sINFOplanner_serverDeactivating + 12.79sINFOglobal_costmap.global_costmapDeactivating + 12.89sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.89sERRORcomponent_container_isolated-2process has died [pid 9448, 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_oos_j6p4 --params-file /tmp/launch_params_pc0yr6s6 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.89sINFOwaypoint_followerDeactivating + 12.89sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 13.00sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 13.00sINFObt_navigatorDeactivating + 13.00sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 13.12sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 13.12sINFObehavior_serverDeactivating + 13.12sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.23sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.23sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.23sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 13.23sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.23sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.23sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.23sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.23sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.23sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.23sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.23sINFOvelocity_smootherCleaning up + 13.24sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.24sINFOwaypoint_followerCleaning up + 13.26sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.26sINFObt_navigatorCleaning up + 13.32sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.32sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.33sINFOplanner_serverCleaning up + 13.35sINFOglobal_costmap.global_costmapCleaning up + 13.36sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.36sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.38sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9578] ×2 + 13.39sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.39sINFObehavior_serverCleaning up + 13.40sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.40sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.40sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.40sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.41sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9577] ×2 + 13.45sINFObt_navigatorCompleted Cleaning up + 13.45sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.48sINFOobjective_server_node[2026-08-07 04:16:25.952] [moveit_pro_license] [info] ×2 + 13.48sINFOobjective_server_node************************************************* ×4 + 13.48sINFOobjective_server_node* MoveIt Pro License ×2 + 13.48sINFOobjective_server_node* Application has successfully terminated ×2 + 13.48sINFOparameter_manager_node-22process has finished cleanly [pid 9572] ×2 + 13.49sINFOwaypoint_manager_node-23process has finished cleanly [pid 9573] ×2 + 13.50sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.50sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.50sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.50sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.50sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.50sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.50sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.52sINFOcomponent_container_mt-27process has finished cleanly [pid 9580] ×2 + 13.55sINFOobjective_server_node_main-26process has finished cleanly [pid 9579] ×2 + 13.55sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.56sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9454] ×2 + 13.58sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9453] ×2 + 13.65sINFOstatic_transform_publisher-4process has finished cleanly [pid 9450] ×2 + 13.67sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9452] ×2 + 13.67sINFOstatic_transform_publisher-3process has finished cleanly [pid 9449] ×2 + 13.69sERRORodom_qos_relay.py-5process has died [pid 9451, 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 + 13.77sERRORcomponent_container_isolated-1process has died [pid 9447, 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_oos_j6p4 --params-file /tmp/launch_params_qj4k9zgs -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.79sINFOweb_bridge-31process has finished cleanly [pid 9584] ×2 + 14.79sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 15.13sINFOros2_control_node-9process has finished cleanly [pid 9455] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 55 warnings · 99 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774294 ms (missed cycles : 3). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774294 ms (missed cycles : 3).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892052 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.892052 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.829ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397892 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.397892 ms (missed cycles : 3).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 3.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071006 ms (missed cycles : 4). + 3.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.071006 ms (missed cycles : 4).[0m ×2 + 3.65sINFOjoint_trajectory_controllerGoal reached, success! + 3.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.70sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786076015.36322165 seconds ×3 + 3.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.71sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.81sWARNlocal_costmap.local_costmapSensor origin at (-1.95, 10.77) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.81sWARNlocal_costmap.local_costmapSensor origin at (-2.65, 11.34) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.895ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.163ms + 4.25sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786076015.92135739 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500475 ms (missed cycles : 4). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.500475 ms (missed cycles : 4).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.487ms + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.596ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.007ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.347ms + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501292 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.501292 ms (missed cycles : 3).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.504ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.638ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.216ms + 6.49sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×4 + 6.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720418 ms (missed cycles : 5). + 6.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.720418 ms (missed cycles : 5).[0m ×2 + 6.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.535ms + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.236ms + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.735ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601742 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.601742 ms (missed cycles : 2).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.583ms + 7.91sINFOamclParticle filter update iteration stats: 4528 particles 723 points - 6.365ms + 8.31sINFOamclParticle filter update iteration stats: 3907 particles 723 points - 5.546ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397434 ms (missed cycles : 4). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397434 ms (missed cycles : 4).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 3253 particles 723 points - 4.509ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340762 ms (missed cycles : 3). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.340762 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 2972 particles 723 points - 4.362ms + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728799 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.728799 ms (missed cycles : 4).[0m ×2 + 10.71sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.312ms + 11.20sINFOamclParticle filter update iteration stats: 1819 particles 723 points - 3.793ms + 11.70sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.837ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249734 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249734 ms (missed cycles : 4).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1129 particles 723 points - 1.570ms + 12.70sINFOamclParticle filter update iteration stats: 1011 particles 723 points - 1.350ms + 12.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312502 ms (missed cycles : 3). + 12.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312502 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.144ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386225 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.386225 ms (missed cycles : 4).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 14.29sINFOobjective_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 + 14.31sINFOjoint_trajectory_controllerGot request to cancel goal + 14.31sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.31sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.31sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.35sERRORobjective_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: 1786076026.01967669 seconds ×3 + 14.41sWARNlocal_costmap.local_costmapSensor origin at (-0.67, 3.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.41sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 3.71) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.50sINFOamclParticle filter update iteration stats: 3055 particles 723 points - 2.340ms + 14.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.713ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692801 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692801 ms (missed cycles : 2).[0m ×2 + 14.91sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786076026.57451987 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.470ms + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.503ms + 15.31sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 15.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.286ms + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.343ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555945 ms (missed cycles : 3). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.555945 ms (missed cycles : 3).[0m ×2 + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.786ms + 16.41sINFOamclParticle filter update iteration stats: 4394 particles 723 points - 6.228ms + 16.70sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 5.177ms + 17.00sINFOamclParticle filter update iteration stats: 1956 particles 723 points - 2.809ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910867 ms (missed cycles : 2). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.910867 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.7s	38 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 3.84sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.85sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.02sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 4.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms + 7.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354087 ms (missed cycles : 2). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354087 ms (missed cycles : 2).[0m ×2 + 7.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.852ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857481 ms (missed cycles : 2). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.857481 ms (missed cycles : 2).[0m ×2 + 8.59sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786075929.03320718 seconds ×3 + 9.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407930 ms (missed cycles : 3). + 9.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407930 ms (missed cycles : 3).[0m ×2 + 10.16sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786075930.60653615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.58sINFOobjective_server_nodeFound path in 0 iterations (3.25e-07 s). ×2 + 10.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150151 ms (missed cycles : 4). + 10.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.150151 ms (missed cycles : 4).[0m ×2 + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535136 ms (missed cycles : 2). + 11.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535136 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	35 warnings · 56 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397918 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.397918 ms (missed cycles : 4).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.448ms + 0.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.123ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509372 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.509372 ms (missed cycles : 3).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091482 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.091482 ms (missed cycles : 2).[0m ×2 + 2.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.450ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745154 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.745154 ms (missed cycles : 4).[0m ×2 + 3.57sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.57sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786076099.49470162 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.64sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.71sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 13.91) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.71sWARNlocal_costmap.local_costmapSensor origin at (-3.11, 13.48) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786076100.06621718 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681806 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.681806 ms (missed cycles : 2).[0m ×2 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.761ms + 4.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.26sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 8.50sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 9.06sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 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 1.819535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819535 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786075863.25818086 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786075863.81293845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeFound path in 0 iterations (2.5377e-05 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3).[0m ×2 + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404165 ms (missed cycles : 3). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404165 ms (missed cycles : 3).[0m ×2 + 7.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786075867.01306772 seconds ×3 + 8.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786075867.57032871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347799 ms (missed cycles : 3). + 8.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347799 ms (missed cycles : 3).[0m ×2 + 8.76sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 9.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107306 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107306 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.676ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773881 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773881 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.101ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.215ms + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3).[0m ×2 + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786076175.42932224 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.177ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.157ms + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076176.02627802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.85sINFOmove_groupClearing octomap...[0m ×2 + 4.86sINFOmove_groupOctomap cleared.[0m ×2 + 4.92sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.312ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.991ms + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076176.73640776 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.123ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3). + 6.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076177.28914261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.219ms + 6.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076177.92927575 seconds ×3 + 6.90sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 5.635ms + 7.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009166 ms (missed cycles : 2). + 7.30sINFOamclParticle filter update iteration stats: 3762 particles 723 points - 4.607ms + 8.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.009166 ms (missed cycles : 2).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616416 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.616416 ms (missed cycles : 3).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858236 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858236 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 4.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 4.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 4.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 4.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	22 warnings · 46 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786075961.41668630 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.646ms + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.22) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.21) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.756ms + 4.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786075961.99308777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.119ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.635ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.604ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.098ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.227ms + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	22 warnings · 46 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786075961.41668630 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.646ms + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.22) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.21) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.756ms + 4.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786075961.99308777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.119ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.635ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.604ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.098ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.227ms + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	22 warnings · 46 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 0.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3). + 0.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.833966 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.852ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 1.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4). + 1.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.600321 ms (missed cycles : 4).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883154 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 3.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4). + 3.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.363239 ms (missed cycles : 4).[0m ×2 + 4.20sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.25sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786075961.41668630 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.31sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.646ms + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-1.25, 5.22) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-2.15, 5.21) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.461ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.756ms + 4.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786075961.99308777 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3). + 5.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475850 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.852ms + 5.24sINFOobjective_server_nodeFound path in 0 iterations (4.01e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.119ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.635ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.604ms + 6.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3). + 6.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.558801 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.098ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.227ms + 6.92sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal + 6.98sINFOjoint_trajectory_controllerAccepted new action goal + 6.99sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.99sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 1.819535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819535 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786075863.25818086 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786075863.81293845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeFound path in 0 iterations (2.5377e-05 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 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 1.819535 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.819535 ms (missed cycles : 2).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253155 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131993 ms (missed cycles : 2).[0m ×2 + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800023 ms (missed cycles : 2).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786075863.25818086 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786075863.81293845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 5.64sINFOobjective_server_nodeFound path in 0 iterations (2.5377e-05 s). ×2 + 5.65sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786075863.25818086 seconds ×3 + 0.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.069597 ms (missed cycles : 2).[0m ×2 + 0.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786075863.81293845 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3). + 1.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359070 ms (missed cycles : 3).[0m ×2 + 1.64sINFOobjective_server_nodeFound path in 0 iterations (2.5377e-05 s). ×2 + 1.64sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.66sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.66sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.67sINFOjoint_trajectory_controllerReceived new action goal + 1.67sINFOjoint_trajectory_controllerAccepted new action goal + 1.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.67sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.588905 ms (missed cycles : 3).[0m ×2 + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404165 ms (missed cycles : 3). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.404165 ms (missed cycles : 3).[0m ×2 + 3.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786075867.01306772 seconds ×3 + 4.33sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786075867.57032871 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347799 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.347799 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (5.81e-07 s). ×2 + 5.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107306 ms (missed cycles : 3). + 5.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107306 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.677786 ms (missed cycles : 3).[0m ×2 + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772501 ms (missed cycles : 3).[0m ×2 + 2.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5). + 2.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.010363 ms (missed cycles : 5).[0m ×2 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3). + 3.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902189 ms (missed cycles : 3).[0m ×2 + 3.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 3.84sINFOjoint_trajectory_controllerGoal reached, success! + 3.85sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.89sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786075924.34046435 seconds ×3 + 3.92sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.93sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.02sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 1.631ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-2.69, 11.78) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-3.58, 11.82) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.571ms + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.987125 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.588ms + 4.48sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786075924.92306638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.51sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.51sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.336ms + 4.85sINFOobjective_server_nodeFound path in 0 iterations (3.82e-07 s). ×2 + 4.87sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal + 4.88sINFOjoint_trajectory_controllerAccepted new action goal + 4.88sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994941 ms (missed cycles : 3).[0m ×2 + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.691527 ms (missed cycles : 3).[0m ×2 + 6.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.864ms
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 36 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.869ms + 0.38sINFOjoint_trajectory_controllerReceived new action goal + 0.38sINFOjoint_trajectory_controllerAccepted new action goal + 0.38sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.38sINFOros2_control_nodeAccepted new action goal[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.626225 ms (missed cycles : 3).[0m ×2 + 1.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.236ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717380 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.409ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.797055 ms (missed cycles : 3).[0m ×2 + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.24sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786076104.36635947 seconds ×3 + 4.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.26sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407126 ms (missed cycles : 3).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786076104.93194461 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.96e-07 s). ×2 + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885095 ms (missed cycles : 2).[0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609840 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.676ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.314ms + 0.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773881 ms (missed cycles : 3). + 0.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773881 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.101ms + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.118ms + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.753244 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.434ms + 2.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3). + 2.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.401948 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.215ms + 4.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3). + 4.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.341765 ms (missed cycles : 3).[0m ×2 + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786076175.42932224 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.177ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.383ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.157ms + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786076176.02627802 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.85sINFOmove_groupClearing octomap...[0m ×2 + 4.86sINFOmove_groupOctomap cleared.[0m ×2 + 4.92sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.682177 ms (missed cycles : 2).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.312ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.991ms + 5.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786076176.73640776 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.683ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.123ms + 6.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3). + 6.12sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786076177.28914261 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.549575 ms (missed cycles : 3).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.371ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.219ms + 6.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786076177.92927575 seconds ×3 + 6.90sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 5.635ms
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_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 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 6.71sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.71sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.09sINFOjoint_trajectory_controllerReceived new action goal + 7.09sINFOjoint_trajectory_controllerAccepted new action goal + 7.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.10sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 118 info
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.05sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709826 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709826 ms (missed cycles : 2).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 3.01sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.70sINFOmove_groupClearing octomap...[0m ×2 + 4.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 6.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_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 + 6.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.59sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 7.18sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.21sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.21sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.21sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.21sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.21sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.21sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 100 info
+ 0.00sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.00sINFObt_navigatorActivating + 0.05sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.16sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.16sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.16sINFOwaypoint_followerActivating + 0.16sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.26sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.26sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.26sINFOvelocity_smootherActivating + 0.26sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.37sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.37sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.37sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709826 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.709826 ms (missed cycles : 2).[0m ×2 + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 2.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 2.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 3.01sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.70sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.70sINFOmove_groupClearing octomap...[0m ×2 + 4.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 4.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 4.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 5.27sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 5.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 6.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.58sINFOobjective_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 + 6.58sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.59sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.61sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.61sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.61sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.62sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_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 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.852802 ms (missed cycles : 2).[0m ×2 + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 1.46sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 2.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.15sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.15sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.16sINFOmove_groupClearing octomap...[0m ×2 + 3.16sINFOmove_groupOctomap cleared.[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_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 + 5.04sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.04sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.04sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.04sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.04sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.04sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.06sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.06sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.06sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.07sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.07sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.08sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 5.64sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.65sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.66sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.66sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.66sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.66sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.66sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.66sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858236 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858236 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_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 3.933611 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933611 ms (missed cycles : 3).[0m ×2 + 0.34sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419798 ms (missed cycles : 3).[0m ×2 + 1.48sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786075817.75832844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.03sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.03sINFOmove_groupClearing octomap...[0m ×2 + 2.03sINFOmove_groupOctomap cleared.[0m ×2 + 2.04sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786075817.76862073 seconds ×3 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.897762 ms (missed cycles : 3).[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786075818.32474899 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.60sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786075818.33486509 seconds ×3 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.408501 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786075818.88897872 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.31sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786075819.04309583 seconds ×3 + 3.90sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786075819.62738800 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.91sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.91sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.91sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.91sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.91sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.91sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.91sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.94sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.94sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.94sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.94sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.94sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.95sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.96sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786075819.68751240 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2). + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668252 ms (missed cycles : 2).[0m ×2 + 4.51sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786075820.24163008 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.53sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.53sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.54sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.54sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.54sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.54sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998417 ms (missed cycles : 2).[0m ×2 + 5.58sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.58sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2