69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.4s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 33.3s | 12 errors · 308 warnings · 1225 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/2026-08-07-04-48-36-039606-176e0495da8c-9410 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 14.09sINFOstatic_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' + 14.10sINFOstatic_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' + 14.17sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.19sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.19sINFOcontroller_managerupdate rate is 600 Hz + 14.19sINFOcontroller_managerOverruns handling is : enabled + 14.19sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.19sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.20sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.22sINFOcontroller_server
controller_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.26sINFOcontroller_serverCreating controller server + 14.30sINFOlocal_costmap.local_costmap
local_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.31sINFOlocal_costmap.local_costmapCreating Costmap + 14.31sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.33sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.34sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.35sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.35sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.35sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638718 ms (missed cycles : 4). + 14.35sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.36sINFOsmoother_server
smoother_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.39sINFOsmoother_serverCreating smoother server + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.41sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.41sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.41sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.42sINFOros2_control_node-9process started with pid [9468] ×2 + 14.42sINFOmove_group-21process started with pid [9557] ×2 + 14.42sINFOparameter_manager_node-22process started with pid [9558] ×2 + 14.42sINFOwaypoint_manager_node-23process started with pid [9577] ×2 + 14.42sINFOmove_joint_resampler_node-24process started with pid [9578] ×2 + 14.42sINFOmove_end_effector_resampler_node-25process started with pid [9580] ×2 + 14.42sINFOobjective_server_node_main-26process started with pid [9581] ×2 + 14.42sINFOcomponent_container_mt-27process started with pid [9583] ×2 + 14.42sINFOcomponent_container_mt-28process started with pid [9584] ×2 + 14.42sINFOexecute_objective_bridge-29process started with pid [9585] ×2 + 14.43sINFOui_teleop_bridge-30process started with pid [9586] ×2 + 14.43sINFOweb_bridge-31process started with pid [9587] ×2 + 14.43sINFOtf2_web_republisher_node-32process started with pid [9588] ×2 + 14.43sINFOvideo_server-33process started with pid [9589] ×2 + 14.43sINFOweb_bridge_auth_proxy-34process started with pid [9590] ×2 + 14.43sINFOweb_video_auth_proxy-35process started with pid [9594] ×2 + 14.46sINFOcomponent_container_isolated-1process started with pid [9460] ×2 + 14.46sINFOcomponent_container_isolated-2process started with pid [9461] ×2 + 14.46sINFOstatic_transform_publisher-3process started with pid [9462] ×2 + 14.46sINFOstatic_transform_publisher-4process started with pid [9463] ×2 + 14.46sINFOodom_qos_relay.py-5process started with pid [9464] ×2 + 14.46sINFOforward_stereo_publisher.py-6process started with pid [9465] ×2 + 14.46sINFOscan_to_scan_filter_chain-7process started with pid [9466] ×2 + 14.46sINFOscan_to_scan_filter_chain-8process started with pid [9467] ×2 + 14.46sINFOros2-10process started with pid [9546] ×2 + 14.46sINFOros2-11process started with pid [9547] ×2 + 14.46sINFOros2-12process started with pid [9548] ×2 + 14.46sINFOros2-13process started with pid [9549] ×2 + 14.46sINFOros2-14process started with pid [9550] ×2 + 14.46sINFOros2-15process started with pid [9551] ×2 + 14.46sINFOros2-16process started with pid [9552] ×2 + 14.46sINFOros2-17process started with pid [9553] ×2 + 14.47sINFOros2-18process started with pid [9554] ×2 + 14.47sINFOros2-19process started with pid [9555] ×2 + 14.47sINFOros2-20process started with pid [9556] ×2 + 14.48sINFOplanner_server
planner_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.50sINFOplanner_serverCreating + 14.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.53sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.53sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.53sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.56sINFOmap_server
map_server lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.56sINFOmap_serverCreating + 14.57sINFOglobal_costmap.global_costmap
global_costmap lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.57sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.57sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.58sINFOglobal_costmap.global_costmapCreating Costmap + 14.58sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.59sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.61sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.61sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.61sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.61sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.62sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.62sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.62sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.62sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.62sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.62sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.63sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.63sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.63sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.63sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.63sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.63sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.63sWARNros2_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 + 14.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.638718 ms (missed cycles : 4).[0m ×2 + 14.63sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.63sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.65sINFObehavior_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. + 14.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.66sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.66sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.66sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.67sINFOrobot_state_publisherRobot initialized + 14.68sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.68sINFOcontroller_managerReceived robot description from topic. + 14.70sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.71sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.71sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.71sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.71sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.71sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.74sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.74sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.74sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.76sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.76sINFOlifecycle_manager_localizationCreating + 14.76sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.76sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.78sINFObt_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. + 14.79sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.79sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.79sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.79sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.79sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.80sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.80sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.81sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.81sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.81sINFOmap_serverConfiguring + 14.82sINFObt_navigatorCreating + 14.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.84sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.86sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.86sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.88sINFOwaypoint_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. + 14.88sINFOwaypoint_followerCreating + 14.89sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.90sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.96sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.96sINFOamclConfiguring + 14.96sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.97sINFOmap_serverActivating + 14.97sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.97sINFOvelocity_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. + 15.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.00sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.00sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.00sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.05sINFOlifecycle_manager_navigationCreating + 15.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.08sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.09sINFOlifecycle_manager_localizationServer map_server connected with bond. + 15.09sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 15.09sINFOamclActivating + 15.09sINFOamclSubscribed to initial_pose_topic: /initialpose + 15.09sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 15.10sWARNlaser_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. + 15.10sWARNlaser_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. + 15.10sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.10sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.10sINFOcontroller_serverConfiguring controller interface + 15.10sINFOcontroller_servergetting progress checker plugins.. + 15.10sINFOcontroller_servergetting goal checker plugins.. + 15.10sINFOcontroller_serverController frequency set to 20.0000Hz + 15.10sINFOlocal_costmap.local_costmapConfiguring + 15.10sINFOamclSubscribed to map_topic: /map + 15.10sWARNscan_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 + 15.10sINFOamclSubscribed to scan_topic: /scan_merged + 15.11sINFOamclCreated reinitialize_global_localization service + 15.11sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.11sINFOamclCreated request_nomotion_update service + 15.11sINFOamclA new map was received + 15.12sINFOamclInitializing particle filter instance + 15.13sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.17sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.299046 seconds + 15.17sINFOmove_groupLoaded robot model in 0.299046 seconds[0m ×2 + 15.17sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.17sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.17sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.17sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.18sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.18sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.18sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.23sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.24sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.24sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.24sINFOvideo_server2026/08/07 04:48:54 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.25sINFOvideo_server2026/08/07 04:48:54 INF configuration loaded from /tmp/moveit-webrtc-3gg4uy_p/mediamtx.yml ×2 + 15.25sINFOvideo_server2026/08/07 04:48:54 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.25sINFOvideo_server2026/08/07 04:48:54 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.25sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.26sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.28sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.30sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.32sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.32sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.32sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.32sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.33sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.33sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.34sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.34sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.35sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.36sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.36sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.36sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.37sINFOcontroller_serverOptimizer reset ×2 + 15.38sINFOcontroller_serverController Server has FollowPath controllers available. + 15.40sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.40sINFOsmoother_serverConfiguring smoother server + 15.42sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.43sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.44sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.44sINFOplanner_serverConfiguring + 15.44sINFOglobal_costmap.global_costmapConfiguring + 15.46sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.46sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.47sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.47sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.47sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.50sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.50sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.50sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.54sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.54sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.54sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.55sINFOplanner_serverPlanner Server has GridBased planners available. + 15.58sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.58sINFObehavior_serverConfiguring + 15.58sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.59sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.60sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.61sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.63sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.63sINFObehavior_serverConfiguring spin + 15.65sINFObehavior_serverConfiguring backup + 15.66sINFObehavior_serverConfiguring drive_on_heading + 15.67sINFObehavior_serverConfiguring assisted_teleop + 15.69sINFObehavior_serverConfiguring wait + 15.71sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.71sINFObt_navigatorConfiguring + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781068 ms (missed cycles : 2). + 15.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.781068 ms (missed cycles : 2).[0m ×2 + 15.73sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.74sINFOamclParticle filter initialization completed + 15.74sWARNbt_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 + 15.75sINFOamclInitializing particles from estimated pose and covariance + 15.75sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.75sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.75sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.75sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.75sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.99sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.10sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.10sINFOwaypoint_followerConfiguring + 16.13sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.13sWARNmove_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. + 16.13sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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 + 16.14sWARNmove_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. + 16.14sWARNmove_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. + 16.14sWARNmove_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 + 16.14sWARNmove_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 + 16.14sWARNmove_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 + 16.14sWARNmove_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 + 16.14sWARNmove_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 + 16.14sWARNmove_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 + 16.14sWARNmove_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 + 16.14sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.14sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.15sINFOvelocity_smootherConfiguring velocity smoother + 16.15sWARNmove_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 + 16.15sWARNmove_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 + 16.16sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.16sINFOcontroller_serverActivating + 16.16sINFOlocal_costmap.local_costmapActivating + 16.16sINFOlocal_costmap.local_costmapChecking transform + 16.16sINFOlocal_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. ×5 + 16.54sINFOmove_group[2026-08-07 04:48:56.183] [moveit_pro_license] [info] ×2 + 16.54sINFOmove_group************************************************* ×4 + 16.54sINFOmove_group* MoveIt Pro License ×2 + 16.54sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163372 ms (missed cycles : 4). + 16.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163372 ms (missed cycles : 4).[0m ×2 + 16.80sINFOwaypoint_manager_nodeLoaded robot model in 0.584565 seconds[0m ×2 + 16.80sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 16.80sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.16sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 17.16sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 17.16sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 17.16sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 17.36sINFOspawner_platform_velocity_controller_nav2waiting for service /controller_manager/list_controllers to become available... + 17.36sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.44sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.44sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.44sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.44sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.44sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.44sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.44sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.44sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.45sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.45sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.45sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.45sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.46sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.46sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.46sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.46sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.46sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.46sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.47sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.47sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.48sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.63sWARNwaypoint_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. + 17.63sWARNwaypoint_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 + 17.63sWARNwaypoint_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. + 17.63sWARNwaypoint_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 + 17.63sWARNwaypoint_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. + 17.63sWARNwaypoint_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 + 17.63sWARNwaypoint_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. + 17.63sWARNwaypoint_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. + 17.63sWARNwaypoint_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. + 17.63sWARNwaypoint_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. + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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. + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.64sWARNwaypoint_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 + 17.65sWARNwaypoint_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 + 17.65sWARNwaypoint_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. + 17.65sWARNwaypoint_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. + 17.65sWARNwaypoint_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 + 17.65sWARNwaypoint_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 + 17.65sWARNwaypoint_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. + 17.65sWARNwaypoint_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. + 17.66sWARNwaypoint_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. + 17.66sWARNwaypoint_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 + 17.66sWARNwaypoint_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. + 17.66sWARNwaypoint_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 + 17.66sWARNwaypoint_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 + 17.66sWARNwaypoint_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 + 17.66sWARNwaypoint_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. + 17.66sWARNwaypoint_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. + 17.66sWARNwaypoint_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 + 17.66sWARNwaypoint_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 + 17.66sWARNwaypoint_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. + 17.67sWARNwaypoint_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 + 17.67sWARNwaypoint_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. + 17.67sWARNwaypoint_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 + 17.67sWARNwaypoint_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. + 17.67sWARNwaypoint_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. + 17.67sWARNwaypoint_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 + 17.67sWARNwaypoint_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. + 17.67sWARNwaypoint_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. + 17.67sWARNwaypoint_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 + 17.68sWARNwaypoint_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 + 17.68sWARNwaypoint_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 + 17.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729990 ms (missed cycles : 2). + 17.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729990 ms (missed cycles : 2).[0m ×2 + 17.86sINFOwaypoint_manager_node[2026-08-07 04:48:57.497] [moveit_pro_license] [info] ×2 + 17.86sINFOwaypoint_manager_node************************************************* ×4 + 17.86sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.86sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.08sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 18.08sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 18.08sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 18.08sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 18.08sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 18.08sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 18.08sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 18.08sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 18.08sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 18.08sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 18.08sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 18.08sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 18.08sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 18.08sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 18.09sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 18.09sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 18.09sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 18.09sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 18.09sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 18.09sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 18.09sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 18.09sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 18.09sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 18.09sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 18.12sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.12sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.12sWARNros2_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 + 18.12sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.12sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 18.12sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.12sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 18.13sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 18.14sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 18.18sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 18.18sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 18.18sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 18.18sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 18.19sINFOplatform_velocity_controller_nav2configure successful + 18.19sINFOros2_control_nodeconfigure successful[0m ×6 + 18.24sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 18.24sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 18.25sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 18.29sINFOobjective_server_node[2026-08-07 04:48:57.934] [moveit_pro_license] [info] ×2 + 18.29sINFOobjective_server_node************************************************* ×4 + 18.29sINFOobjective_server_node* MoveIt Pro License ×2 + 18.29sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.37sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.38sINFOobjective_server_nodeLoaded robot model in 0.0314515 seconds[0m ×2 + 18.38sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.38sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.48sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.49sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.49sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.49sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.49sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 18.50sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 18.55sINFOros2-15process has finished cleanly [pid 9551] ×2 + 18.60sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 18.60sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 18.60sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 18.60sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 18.60sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 18.60sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 18.63sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 18.63sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 18.63sINFOcontroller_managerSuccessfully switched controllers! ×7 + 18.64sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 18.64sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 18.64sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 18.66sINFOlocal_costmap.local_costmapstart + 18.76sWARNcontroller_serverParameter controller_server.verbose not found + 18.77sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 18.77sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 18.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428743 ms (missed cycles : 2). + 18.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.428743 ms (missed cycles : 2).[0m ×2 + 18.83sINFOamclParticle filter update iteration stats: 2261 particles 723 points - 4.527ms + 18.87sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 18.87sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 18.87sINFOsmoother_serverActivating + 18.87sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.90sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.90sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.90sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.91sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.94sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.94sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.94sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNobjective_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 + 18.95sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.95sWARNobjective_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 + 18.95sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.95sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.96sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.96sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.96sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.96sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.98sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 18.98sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 18.99sINFOplanner_serverActivating + 18.99sINFOglobal_costmap.global_costmapActivating + 18.99sINFOglobal_costmap.global_costmapChecking transform + 18.99sINFOglobal_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 1786078138.585786 but the earliest data is at time 1786078139.350901, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.02sINFOobjective_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 + 19.02sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.03sINFOros2-12process has finished cleanly [pid 9548] ×2 + 19.04sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.04sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.04sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.04sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.04sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.04sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.04sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.10sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 19.10sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 19.14sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 19.14sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 19.14sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 19.14sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 19.16sWARNcomponent_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 + 19.18sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 19.18sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 19.18sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.19sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 19.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 19.21sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 19.21sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.21sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 19.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 19.24sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 19.24sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 19.25sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 19.25sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 19.25sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 19.25sINFOstreaming_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) + 19.25sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 19.25sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 19.26sINFOcomponent_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 + 19.26sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 19.26sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 19.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 19.34sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786078137.851 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.47sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 19.47sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 19.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 19.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 19.49sINFOglobal_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 1786078139.094101 but the earliest data is at time 1786078139.350901, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.49sINFOstreaming_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) + 19.49sINFOcomponent_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 + 19.49sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 19.52sINFOcomponent_container_mtLoaded robot model in 0.36205 seconds[0m ×2 + 19.52sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 19.52sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 19.55sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.55sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.56sINFOmove_groupMoveGroup debug mode is ON + 19.56sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.57sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.62sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.63sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.67sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.72sINFOmove_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
********************************************************
+ 19.72sINFOmove_group ×8 + 19.72sINFOmove_group******************************************************** ×4 + 19.72sINFOmove_group* MoveGroup using: ×2 + 19.72sINFOmove_group* - apply_planning_scene_service ×2 + 19.72sINFOmove_group* - clear_octomap_service ×2 + 19.72sINFOmove_group* - get_group_urdf ×2 + 19.72sINFOmove_group* - load_geometry_from_file ×2 + 19.72sINFOmove_group* - get_planning_scene_service ×2 + 19.72sINFOmove_group* - kinematics_service ×2 + 19.72sINFOmove_group* - save_geometry_to_file ×2 + 19.72sINFOmove_group* - GetPlanningGroups ×2 + 19.72sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.72sINFOmove_group[0m ×2 + 19.72sINFOmove_group[92mYou can start planning now![0m ×2 + 19.77sINFOros2_control_node[2026-08-07 04:48:59.406] [info] Controller state will be published at 20 Hz. ×2 + 19.77sINFOros2_control_node[2026-08-07 04:48:59.409] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935815 ms (missed cycles : 3). + 19.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.935815 ms (missed cycles : 3).[0m ×2 + 19.88sWARNobjective_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 + 19.95sWARNros2_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 + 19.99sINFOglobal_costmap.global_costmapstart + 20.11sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 20.11sINFOcontroller_managerLoading controller 'vacuum_gripper' + 20.11sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 20.11sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 20.11sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 20.11sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 20.14sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 20.14sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 20.16sWARNplanning_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. + 20.16sWARNplanning_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. + 20.16sWARNplanning_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. + 20.16sWARNcomponent_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 + 20.16sWARNplanning_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. + 20.16sWARNcomponent_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 + 20.16sWARNcomponent_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 + 20.16sWARNcomponent_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 + 20.16sWARNplanning_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. + 20.16sWARNplanning_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. + 20.16sWARNcomponent_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 + 20.16sWARNcomponent_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 + 20.16sWARNplanning_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. + 20.16sWARNplanning_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. + 20.16sWARNplanning_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. + 20.16sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNcomponent_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 + 20.17sWARNcomponent_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 + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.17sWARNplanning_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. + 20.17sWARNcomponent_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 + 20.17sWARNplanning_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. + 20.18sWARNplanning_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. + 20.18sWARNcomponent_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 + 20.18sWARNcomponent_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 + 20.18sWARNplanning_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. + 20.18sWARNcomponent_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 + 20.18sWARNcomponent_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 + 20.18sWARNplanning_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. + 20.18sWARNplanning_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. + 20.18sWARNplanning_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. + 20.18sWARNcomponent_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 + 20.18sWARNcomponent_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 + 20.18sWARNcomponent_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 + 20.18sWARNcomponent_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 + 20.18sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 20.18sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 20.19sINFOros2-19process has finished cleanly [pid 9555] ×2 + 20.20sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 20.20sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 20.20sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 20.20sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 20.20sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 20.20sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 20.21sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 20.21sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 20.37sINFOcomponent_container_mt[2026-08-07 04:49:00.007] [moveit_pro_license] [info] ×2 + 20.37sINFOcomponent_container_mt************************************************* ×4 + 20.37sINFOcomponent_container_mt* MoveIt Pro License ×2 + 20.37sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 20.55sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 20.55sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 20.55sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 20.55sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 20.57sINFOros2-14process has finished cleanly [pid 9550] ×2 + 20.62sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 20.62sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 20.69sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.69sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.69sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.69sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.74sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.74sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.75sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514363 ms (missed cycles : 3). + 20.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.514363 ms (missed cycles : 3).[0m ×2 + 20.91sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.92sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.93sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 21.04sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 21.04sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 21.14sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 21.14sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 21.14sINFObehavior_serverActivating + 21.15sINFObehavior_serverActivating spin + 21.15sINFObehavior_serverActivating backup + 21.15sINFObehavior_serverActivating drive_on_heading + 21.15sINFObehavior_serverActivating assisted_teleop + 21.15sINFObehavior_serverActivating wait + 21.15sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 21.19sINFOros2_control_node[2026-08-07 04:49:00.834] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.20sINFOros2_control_node[2026-08-07 04:49:00.836] [info] Controller state will be published at 10 Hz. ×2 + 21.20sINFOros2_control_node[2026-08-07 04:49:00.837] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.25sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 21.25sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 21.25sINFObt_navigatorActivating + 21.31sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.41sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.42sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.42sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.42sINFOwaypoint_followerActivating + 21.42sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.52sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.52sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.52sINFOvelocity_smootherActivating + 21.52sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.55sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.55sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.55sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.55sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.55sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 21.55sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 21.60sINFOros2-18process has finished cleanly [pid 9554] ×2 + 21.63sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 21.63sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 21.63sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.66sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.66sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.66sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.66sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.66sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.66sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.67sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.67sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.67sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.67sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.67sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.67sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.67sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.68sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.68sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841265 ms (missed cycles : 2). + 22.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841265 ms (missed cycles : 2).[0m ×2 + 22.03sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.03sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.03sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.03sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.04sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 22.04sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 22.10sINFOros2-16process has finished cleanly [pid 9552] ×2 + 22.10sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 22.10sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.10sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 22.10sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 22.11sINFOforce_torque_sensor_broadcasterconfigure successful + 22.11sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 22.11sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 22.12sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 22.12sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.48sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.48sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.49sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 22.49sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.49sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.49sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 22.49sINFOros2-10process has finished cleanly [pid 9546] ×2 + 22.57sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.57sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.58sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.58sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 23.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566106 ms (missed cycles : 4). + 23.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.566106 ms (missed cycles : 4).[0m ×2 + 23.09sINFOros2_control_node[2026-08-07 04:49:02.731] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 23.09sINFOros2_control_node[2026-08-07 04:49:02.733] [info] Controller state will be published at 10 Hz. ×2 + 23.09sINFOros2_control_node[2026-08-07 04:49:02.735] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.45sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.45sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 23.45sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 23.45sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.45sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 23.45sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 23.50sINFOros2-17process has finished cleanly [pid 9553] ×2 + 23.51sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 23.51sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 23.52sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 23.52sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 24.01sINFOros2_control_node[2026-08-07 04:49:03.645] [info] Controller state will be published at 20 Hz. ×2 + 24.01sINFOros2_control_node[2026-08-07 04:49:03.646] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336462 ms (missed cycles : 3). + 24.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336462 ms (missed cycles : 3).[0m ×2 + 24.37sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 24.37sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 24.37sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 24.37sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 24.38sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 24.38sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 24.41sINFOros2-20process has finished cleanly [pid 9556] ×2 + 24.46sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 24.46sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 24.46sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 24.47sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 24.47sINFOplatform_velocity_controllerconfigure successful + 24.47sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 24.47sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 24.48sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 24.48sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 24.82sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 24.82sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 24.82sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 24.82sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 24.83sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr + 24.83sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_3542qz4a --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_thdbvpfw --params-file /tmp/launch_params_c7r4k_vr [0m ×2 + 24.87sINFOros2-13process has finished cleanly [pid 9549] ×2 + 24.89sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 24.89sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 24.89sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 24.89sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 24.89sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 24.89sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 24.90sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 24.90sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 25.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 25.11sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170595 ms (missed cycles : 3). + 25.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170595 ms (missed cycles : 3).[0m ×2 + 25.27sINFOros2-11process has finished cleanly [pid 9547] ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 27.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 27.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 28.13sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 28.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 30.25sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 30.26sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 30.26sINFOmove_groupClearing octomap...[0m ×2 + 30.26sINFOmove_groupOctomap cleared.[0m ×2 + 30.26sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 30.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 30.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 30.83sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.84sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 31.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 32.14sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 32.15sINFOobjective_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 + 32.15sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 32.15sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 32.15sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.15sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.15sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 32.16sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 32.18sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 32.18sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 32.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 32.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 32.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 32.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 72.0s | 3 errors · 237 warnings · 215 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.530ms + 0.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677568 ms (missed cycles : 2). + 0.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677568 ms (missed cycles : 2).[0m ×2 + 0.51sINFOamclParticle filter update iteration stats: 4735 particles 723 points - 8.466ms + 1.01sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 6.038ms + 1.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931212 ms (missed cycles : 3). + 1.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931212 ms (missed cycles : 3).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 3700 particles 723 points - 5.245ms + 2.01sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 4.882ms + 2.51sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 4.276ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019416 ms (missed cycles : 4). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019416 ms (missed cycles : 4).[0m ×2 + 3.01sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 3.664ms + 3.51sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 3.234ms + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071373 ms (missed cycles : 2). + 3.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071373 ms (missed cycles : 2).[0m ×2 + 4.01sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.939ms + 4.32sINFOobjective_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 + 4.32sINFOjoint_trajectory_controllerGot request to cancel goal + 4.32sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.32sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.32sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.33sERRORobjective_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: 1786078358.20273590 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-0.77, 4.06) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 4.00) 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 - 6.675ms + 4.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285116 ms (missed cycles : 3). + 4.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285116 ms (missed cycles : 3).[0m ×2 + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 4.90sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786078358.76393080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.92sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.374ms + 5.35sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.326ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.743ms + 5.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829042 ms (missed cycles : 3). + 5.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829042 ms (missed cycles : 3).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.501ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.329ms + 6.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653467 ms (missed cycles : 3). + 6.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653467 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 6.476ms + 7.08sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.13sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.13sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.13sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.21sINFOamclParticle filter update iteration stats: 2930 particles 723 points - 5.820ms + 7.71sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 2.889ms + 7.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883446 ms (missed cycles : 3). + 7.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.883446 ms (missed cycles : 3).[0m ×2 + 8.01sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.059ms + 8.31sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.433ms + 8.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 8.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274950 ms (missed cycles : 2). + 8.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274950 ms (missed cycles : 2).[0m ×2 + 9.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.117ms + 9.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719163 ms (missed cycles : 3). + 9.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.719163 ms (missed cycles : 3).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 10.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.616ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699247 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.699247 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 11.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421959 ms (missed cycles : 3). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.421959 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 13.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755518 ms (missed cycles : 2). + 13.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755518 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 13.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980856 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.980856 ms (missed cycles : 3).[0m ×2 + 14.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.473ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101029 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.101029 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 16.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054934 ms (missed cycles : 2). + 16.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054934 ms (missed cycles : 2).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942924 ms (missed cycles : 3). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942924 ms (missed cycles : 3).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.251ms + 18.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579435 ms (missed cycles : 2). + 18.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579435 ms (missed cycles : 2).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 19.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180979 ms (missed cycles : 3). + 19.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180979 ms (missed cycles : 3).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390757 ms (missed cycles : 3). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.390757 ms (missed cycles : 3).[0m ×2 + 21.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.683ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms ×2 + 21.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600580 ms (missed cycles : 3). + 21.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600580 ms (missed cycles : 3).[0m ×2 + 22.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979214 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979214 ms (missed cycles : 2).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 23.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.465ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927867 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927867 ms (missed cycles : 2).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 24.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.163ms + 25.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216094 ms (missed cycles : 2). + 25.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216094 ms (missed cycles : 2).[0m ×2 + 25.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911613 ms (missed cycles : 3). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911613 ms (missed cycles : 3).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 27.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.688655 ms (missed cycles : 6). + 27.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.688655 ms (missed cycles : 6).[0m ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 28.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032206 ms (missed cycles : 2). + 28.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032206 ms (missed cycles : 2).[0m ×2 + 28.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510625 ms (missed cycles : 4). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.510625 ms (missed cycles : 4).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135781 ms (missed cycles : 4). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.135781 ms (missed cycles : 4).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 31.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293730 ms (missed cycles : 3). + 31.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.293730 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021592 ms (missed cycles : 2). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021592 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms ×2 + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618529 ms (missed cycles : 2). + 33.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618529 ms (missed cycles : 2).[0m ×2 + 33.92sINFOros2_control_nodeMuJoCo sim: 3.76% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 34.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 34.36sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.37sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.63sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 34.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094239 ms (missed cycles : 5). + 34.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.094239 ms (missed cycles : 5).[0m ×2 + 35.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.51sINFOobjective_server_nodePlanning for 33 path waypoints. ×3 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075137 ms (missed cycles : 2). + 35.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075137 ms (missed cycles : 2).[0m ×2 + 36.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578539 ms (missed cycles : 3). + 36.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578539 ms (missed cycles : 3).[0m ×2 + 37.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346584 ms (missed cycles : 5). + 38.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.346584 ms (missed cycles : 5).[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 39.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268249 ms (missed cycles : 4). + 39.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.268249 ms (missed cycles : 4).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 39.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 40.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047985 ms (missed cycles : 4). + 40.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.047985 ms (missed cycles : 4).[0m ×2 + 40.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 40.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 41.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781295 ms (missed cycles : 2). + 41.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781295 ms (missed cycles : 2).[0m ×2 + 41.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 42.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289703 ms (missed cycles : 3). + 42.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289703 ms (missed cycles : 3).[0m ×2 + 43.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218597 ms (missed cycles : 2). + 43.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.218597 ms (missed cycles : 2).[0m ×2 + 44.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247162 ms (missed cycles : 3). + 44.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.247162 ms (missed cycles : 3).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 45.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935953 ms (missed cycles : 4). + 45.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.935953 ms (missed cycles : 4).[0m ×2 + 46.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 46.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733456 ms (missed cycles : 3). + 46.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.733456 ms (missed cycles : 3).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017343 ms (missed cycles : 4). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017343 ms (missed cycles : 4).[0m ×2 + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 48.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535229 ms (missed cycles : 2). + 48.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.535229 ms (missed cycles : 2).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 49.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084879 ms (missed cycles : 2). + 49.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084879 ms (missed cycles : 2).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 50.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555050 ms (missed cycles : 4). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.555050 ms (missed cycles : 4).[0m ×2 + 51.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 51.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134287 ms (missed cycles : 4). + 51.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.134287 ms (missed cycles : 4).[0m ×2 + 52.62sINFOobjective_server_nodePlanning for 40 path waypoints. ×3 + 52.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564531 ms (missed cycles : 5). + 52.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.564531 ms (missed cycles : 5).[0m ×2 + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440595 ms (missed cycles : 4). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.440595 ms (missed cycles : 4).[0m ×2 + 54.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 54.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243990 ms (missed cycles : 4). + 54.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.243990 ms (missed cycles : 4).[0m ×2 + 55.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395825 ms (missed cycles : 5). + 55.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.395825 ms (missed cycles : 5).[0m ×2 + 56.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 57.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901169 ms (missed cycles : 3). + 57.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.901169 ms (missed cycles : 3).[0m ×2 + 57.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.565ms + 58.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496333 ms (missed cycles : 4). + 58.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.496333 ms (missed cycles : 4).[0m ×2 + 58.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 59.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458717 ms (missed cycles : 4). + 59.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.458717 ms (missed cycles : 4).[0m ×2 + 59.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 60.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191235 ms (missed cycles : 3). + 60.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.191235 ms (missed cycles : 3).[0m ×2 + 60.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 61.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863837 ms (missed cycles : 2). + 61.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863837 ms (missed cycles : 2).[0m ×2 + 62.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 62.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629612 ms (missed cycles : 3). + 62.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629612 ms (missed cycles : 3).[0m ×2 + 62.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 63.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065208 ms (missed cycles : 3). + 63.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.065208 ms (missed cycles : 3).[0m ×2 + 63.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 64.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196456 ms (missed cycles : 4). + 64.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.196456 ms (missed cycles : 4).[0m ×2 + 64.68sINFOobjective_server_nodePlanning for 32 path waypoints. ×3 + 65.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103046 ms (missed cycles : 4). + 65.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.103046 ms (missed cycles : 4).[0m ×2 + 66.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896301 ms (missed cycles : 2). + 66.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.896301 ms (missed cycles : 2).[0m ×2 + 67.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050750 ms (missed cycles : 3). + 67.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050750 ms (missed cycles : 3).[0m ×2 + 68.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828269 ms (missed cycles : 2). + 68.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.828269 ms (missed cycles : 2).[0m ×2 + 68.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 69.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 69.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589132 ms (missed cycles : 3). + 69.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.589132 ms (missed cycles : 3).[0m ×2 + 70.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 70.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584739 ms (missed cycles : 3). + 70.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584739 ms (missed cycles : 3).[0m ×2 + 71.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 71.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914571 ms (missed cycles : 3). + 71.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.914571 ms (missed cycles : 3).[0m ×2 + 72.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 72.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.486878 ms (missed cycles : 5). + 72.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.486878 ms (missed cycles : 5).[0m ×2 + 72.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 73.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768323 ms (missed cycles : 4). + 73.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768323 ms (missed cycles : 4).[0m ×2 + 74.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 75.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354805 ms (missed cycles : 4). + 75.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354805 ms (missed cycles : 4).[0m ×2 + 75.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 76.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112274 ms (missed cycles : 4). + 76.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112274 ms (missed cycles : 4).[0m ×2 + 76.34sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786078430.20412683 seconds ×3 + 76.43sWARNlocal_costmap.local_costmapSensor origin at (-2.31, 13.67) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 76.43sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.28) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 76.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.638ms + 76.53sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 5.30) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 76.53sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 5.14) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 76.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.618ms + 76.90sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786078430.76985884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.116ms + 77.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 77.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 77.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 77.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 78.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 78.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 78.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 78.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.7s | 189 warnings · 165 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786078195.52015400 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786078196.08127260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (2.6647e-05 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.81sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.81sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.81sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.81sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651420 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651420 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786078199.38141584 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995479 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995479 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786078199.94430804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365348 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365348 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998022 ms (missed cycles : 4). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998022 ms (missed cycles : 4).[0m ×2 + 7.15sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258142 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258142 ms (missed cycles : 2).[0m ×2 + 8.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317623 ms (missed cycles : 2). + 8.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.317623 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 1566 particles 723 points - 2.011ms + 9.81sINFOamclParticle filter update iteration stats: 1311 particles 723 points - 2.300ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248936 ms (missed cycles : 3). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.248936 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.535ms + 10.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.772ms + 10.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730468 ms (missed cycles : 3). + 10.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.730468 ms (missed cycles : 3).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541998 ms (missed cycles : 2). + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.541998 ms (missed cycles : 2).[0m ×2 + 12.30sINFOros2_control_nodeMuJoCo sim: 0.32% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 13.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496345 ms (missed cycles : 3). + 13.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496345 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.733ms + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083930 ms (missed cycles : 4). + 14.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.083930 ms (missed cycles : 4).[0m ×2 + 14.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.263ms + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 15.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700914 ms (missed cycles : 2). + 15.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700914 ms (missed cycles : 2).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 15.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.692ms + 16.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 16.33sWARNros2_control_nodeCamera render tick took 0.59 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 16.36sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.61 s); wrist_camera (0.61 s). Behaviors waiting on those points topics will time out.[0m ×2 + 16.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253111 ms (missed cycles : 2). + 16.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.253111 ms (missed cycles : 2).[0m ×2 + 16.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 17.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.341ms + 17.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735187 ms (missed cycles : 3). + 17.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735187 ms (missed cycles : 3).[0m ×2 + 17.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.760ms + 18.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.086ms + 18.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956772 ms (missed cycles : 3). + 18.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.956772 ms (missed cycles : 3).[0m ×2 + 19.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 19.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 19.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192124 ms (missed cycles : 4). + 19.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192124 ms (missed cycles : 4).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 20.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 20.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126540 ms (missed cycles : 3). + 20.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.126540 ms (missed cycles : 3).[0m ×2 + 21.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 21.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537323 ms (missed cycles : 6). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.537323 ms (missed cycles : 6).[0m ×2 + 22.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 22.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.691ms + 22.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795477 ms (missed cycles : 2). + 22.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.795477 ms (missed cycles : 2).[0m ×2 + 23.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.174ms + 23.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms ×2 + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326764 ms (missed cycles : 5). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.326764 ms (missed cycles : 5).[0m ×2 + 24.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 24.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 25.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959681 ms (missed cycles : 2). + 25.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959681 ms (missed cycles : 2).[0m ×2 + 25.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 25.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 26.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021700 ms (missed cycles : 3). + 26.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.021700 ms (missed cycles : 3).[0m ×2 + 26.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 26.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819201 ms (missed cycles : 2). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.819201 ms (missed cycles : 2).[0m ×2 + 27.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 27.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.161ms + 28.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955052 ms (missed cycles : 4). + 28.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.955052 ms (missed cycles : 4).[0m ×2 + 28.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 28.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 29.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966110 ms (missed cycles : 3). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.966110 ms (missed cycles : 3).[0m ×2 + 29.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 30.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 30.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986833 ms (missed cycles : 4). + 30.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.986833 ms (missed cycles : 4).[0m ×2 + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 31.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 31.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807780 ms (missed cycles : 3). + 31.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807780 ms (missed cycles : 3).[0m ×2 + 31.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 32.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938285 ms (missed cycles : 3). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938285 ms (missed cycles : 3).[0m ×2 + 32.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 33.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.270ms + 33.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145508 ms (missed cycles : 2). + 33.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.145508 ms (missed cycles : 2).[0m ×2 + 33.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 34.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 34.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612647 ms (missed cycles : 3). + 34.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.612647 ms (missed cycles : 3).[0m ×2 + 35.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441344 ms (missed cycles : 2). + 35.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.441344 ms (missed cycles : 2).[0m ×2 + 35.93sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.93sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574650 ms (missed cycles : 5). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.574650 ms (missed cycles : 5).[0m ×2 + 37.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 37.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913712 ms (missed cycles : 2). + 37.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.913712 ms (missed cycles : 2).[0m ×2 + 39.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462910 ms (missed cycles : 4). + 39.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.462910 ms (missed cycles : 4).[0m ×2 + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886048 ms (missed cycles : 3). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.886048 ms (missed cycles : 3).[0m ×2 + 41.21sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 41.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834559 ms (missed cycles : 3). + 41.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.834559 ms (missed cycles : 3).[0m ×2 + 42.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612176 ms (missed cycles : 2). + 42.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.612176 ms (missed cycles : 2).[0m ×2 + 43.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 43.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172023 ms (missed cycles : 2). + 43.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.172023 ms (missed cycles : 2).[0m ×2 + 44.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060963 ms (missed cycles : 2). + 44.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060963 ms (missed cycles : 2).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697538 ms (missed cycles : 2). + 45.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697538 ms (missed cycles : 2).[0m ×2 + 46.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 46.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749844 ms (missed cycles : 3). + 46.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749844 ms (missed cycles : 3).[0m ×2 + 47.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270355 ms (missed cycles : 4). + 47.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.270355 ms (missed cycles : 4).[0m ×2 + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915227 ms (missed cycles : 2). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915227 ms (missed cycles : 2).[0m ×2 + 49.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.485ms + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786136 ms (missed cycles : 2). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.786136 ms (missed cycles : 2).[0m ×2 + 50.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270251 ms (missed cycles : 2). + 50.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.270251 ms (missed cycles : 2).[0m ×2 + 52.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419976 ms (missed cycles : 4). + 52.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419976 ms (missed cycles : 4).[0m ×2 + 52.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616458 ms (missed cycles : 2). + 53.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616458 ms (missed cycles : 2).[0m ×2 + 54.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263229 ms (missed cycles : 4). + 54.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.263229 ms (missed cycles : 4).[0m ×2 + 55.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784878 ms (missed cycles : 4). + 55.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.784878 ms (missed cycles : 4).[0m ×2 + 56.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476057 ms (missed cycles : 3). + 56.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.476057 ms (missed cycles : 3).[0m ×2 + 57.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 57.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717827 ms (missed cycles : 2). + 57.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.717827 ms (missed cycles : 2).[0m ×2 + 58.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 59.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 59.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 60.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 60.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 61.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 61.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 61.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 61.74sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.74sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 62.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 62.21sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 62.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 62.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 62.61sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 62.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 63.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 63.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 63.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.5s | 188 warnings · 151 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.47sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.47sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.29sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312854 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.312854 ms (missed cycles : 3).[0m ×2 + 7.71sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777111 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.777111 ms (missed cycles : 2).[0m ×2 + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515648 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515648 ms (missed cycles : 2).[0m ×2 + 10.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.706ms + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.138ms + 10.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574644 ms (missed cycles : 3). + 10.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574644 ms (missed cycles : 3).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.008ms + 11.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.063ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504828 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504828 ms (missed cycles : 3).[0m ×2 + 12.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.720ms + 12.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.380ms + 12.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096814 ms (missed cycles : 3). + 12.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.096814 ms (missed cycles : 3).[0m ×2 + 13.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.495ms + 13.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.762ms + 13.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004206 ms (missed cycles : 3). + 13.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004206 ms (missed cycles : 3).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.466ms + 14.63sINFOamclParticle filter update iteration stats: 4114 particles 723 points - 7.465ms + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989092 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989092 ms (missed cycles : 2).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 6.411ms + 15.62sINFOamclParticle filter update iteration stats: 1724 particles 723 points - 3.183ms + 15.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857393 ms (missed cycles : 3). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857393 ms (missed cycles : 3).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 1470 particles 723 points - 2.208ms + 16.62sINFOamclParticle filter update iteration stats: 1449 particles 723 points - 2.318ms + 16.95sINFOros2_control_nodeMuJoCo sim: 5.04% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788971 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788971 ms (missed cycles : 3).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.727ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348696 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348696 ms (missed cycles : 3).[0m ×2 + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.258ms + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855884 ms (missed cycles : 4). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.855884 ms (missed cycles : 4).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 20.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006282 ms (missed cycles : 3). + 20.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006282 ms (missed cycles : 3).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 21.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422201 ms (missed cycles : 3). + 21.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.422201 ms (missed cycles : 3).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.549ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.232ms + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 22.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393996 ms (missed cycles : 3). + 22.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.393996 ms (missed cycles : 3).[0m ×2 + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.403ms + 23.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504064 ms (missed cycles : 4). + 23.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.504064 ms (missed cycles : 4).[0m ×2 + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.149ms + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 24.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349741 ms (missed cycles : 4). + 24.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.349741 ms (missed cycles : 4).[0m ×2 + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.478ms + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.467ms + 25.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738809 ms (missed cycles : 2). + 25.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.738809 ms (missed cycles : 2).[0m ×2 + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 26.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526694 ms (missed cycles : 3). + 26.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.526694 ms (missed cycles : 3).[0m ×2 + 27.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.272ms + 27.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823211 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823211 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 28.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489825 ms (missed cycles : 3). + 28.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489825 ms (missed cycles : 3).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.384ms + 30.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104865 ms (missed cycles : 4). + 30.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.104865 ms (missed cycles : 4).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.567ms + 30.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 31.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631636 ms (missed cycles : 3). + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 31.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.631636 ms (missed cycles : 3).[0m ×2 + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972890 ms (missed cycles : 2). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.972890 ms (missed cycles : 2).[0m ×2 + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 33.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938310 ms (missed cycles : 4). + 33.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.938310 ms (missed cycles : 4).[0m ×2 + 33.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 34.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 34.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323267 ms (missed cycles : 4). + 34.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.323267 ms (missed cycles : 4).[0m ×2 + 35.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819725 ms (missed cycles : 5). + 35.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.819725 ms (missed cycles : 5).[0m ×2 + 36.20sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.20sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351710 ms (missed cycles : 2). + 36.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.351710 ms (missed cycles : 2).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000684 ms (missed cycles : 2). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000684 ms (missed cycles : 2).[0m ×2 + 38.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 38.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136760 ms (missed cycles : 4). + 38.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.136760 ms (missed cycles : 4).[0m ×2 + 39.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873846 ms (missed cycles : 3). + 39.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.873846 ms (missed cycles : 3).[0m ×2 + 40.22sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900066 ms (missed cycles : 2). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.900066 ms (missed cycles : 2).[0m ×2 + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719434 ms (missed cycles : 4). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719434 ms (missed cycles : 4).[0m ×2 + 42.93sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.180ms + 43.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043076 ms (missed cycles : 4). + 43.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.043076 ms (missed cycles : 4).[0m ×2 + 44.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143124 ms (missed cycles : 4). + 44.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.143124 ms (missed cycles : 4).[0m ×2 + 45.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697094 ms (missed cycles : 5). + 45.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.697094 ms (missed cycles : 5).[0m ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771811 ms (missed cycles : 3). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.771811 ms (missed cycles : 3).[0m ×2 + 46.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 47.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829991 ms (missed cycles : 3). + 47.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.829991 ms (missed cycles : 3).[0m ×2 + 48.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872056 ms (missed cycles : 3). + 48.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872056 ms (missed cycles : 3).[0m ×2 + 49.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679654 ms (missed cycles : 5). + 49.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.679654 ms (missed cycles : 5).[0m ×2 + 49.82sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340720 ms (missed cycles : 2). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340720 ms (missed cycles : 2).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263352 ms (missed cycles : 2). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263352 ms (missed cycles : 2).[0m ×2 + 52.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851979 ms (missed cycles : 3). + 52.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.851979 ms (missed cycles : 3).[0m ×2 + 53.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 53.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787013 ms (missed cycles : 4). + 53.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.787013 ms (missed cycles : 4).[0m ×2 + 54.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064835 ms (missed cycles : 2). + 54.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.064835 ms (missed cycles : 2).[0m ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418676 ms (missed cycles : 4). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.418676 ms (missed cycles : 4).[0m ×2 + 56.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532163 ms (missed cycles : 2). + 56.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.532163 ms (missed cycles : 2).[0m ×2 + 57.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.055ms + 57.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145643 ms (missed cycles : 4). + 57.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145643 ms (missed cycles : 4).[0m ×2 + 59.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015418 ms (missed cycles : 3). + 59.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015418 ms (missed cycles : 3).[0m ×2 + 60.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759704 ms (missed cycles : 5). + 60.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759704 ms (missed cycles : 5).[0m ×2 + 61.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 61.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640532 ms (missed cycles : 3). + 61.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640532 ms (missed cycles : 3).[0m ×2 + 61.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786078492.72635436 seconds ×3 + 61.95sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.95sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 62.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.113ms + 62.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.845ms + 62.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986996 ms (missed cycles : 2). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986996 ms (missed cycles : 2).[0m ×2 + 62.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.390ms + 62.44sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786078493.29769301 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 62.81sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 62.84sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356120 ms (missed cycles : 3). + 63.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356120 ms (missed cycles : 3).[0m ×2 + 64.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128977 ms (missed cycles : 2). + 64.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128977 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 52.8s | 175 warnings · 166 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2).[0m ×2 + 4.24sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.24sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786078294.46447420 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.822ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 4.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786078295.02765489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.703ms + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.075ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.825ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.375ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.329ms + 7.04sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.08sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.08sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.08sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190244 ms (missed cycles : 2). + 7.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.190244 ms (missed cycles : 2).[0m ×2 + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.356ms + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.207ms + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.636ms + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.144ms + 8.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646637 ms (missed cycles : 3). + 8.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.646637 ms (missed cycles : 3).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 4187 particles 723 points - 5.388ms + 8.80sINFOamclParticle filter update iteration stats: 3180 particles 723 points - 4.435ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240019 ms (missed cycles : 2). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240019 ms (missed cycles : 2).[0m ×2 + 10.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965216 ms (missed cycles : 2). + 10.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965216 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 2376 particles 723 points - 3.460ms + 10.80sINFOamclParticle filter update iteration stats: 1872 particles 723 points - 2.708ms + 11.30sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.117ms + 11.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389081 ms (missed cycles : 3). + 11.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.389081 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.540ms + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 12.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358590 ms (missed cycles : 4). + 12.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.358590 ms (missed cycles : 4).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.493ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738889 ms (missed cycles : 3). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.738889 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 14.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 14.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965559 ms (missed cycles : 2). + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965559 ms (missed cycles : 2).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 15.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2). + 15.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712673 ms (missed cycles : 2).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 16.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 16.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818481 ms (missed cycles : 3). + 16.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.818481 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 17.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 17.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996967 ms (missed cycles : 4). + 17.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.996967 ms (missed cycles : 4).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 18.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.484ms + 18.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804376 ms (missed cycles : 2). + 18.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804376 ms (missed cycles : 2).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 19.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502372 ms (missed cycles : 3). + 19.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502372 ms (missed cycles : 3).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527437 ms (missed cycles : 4). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527437 ms (missed cycles : 4).[0m ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.291ms + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 22.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2). + 22.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177092 ms (missed cycles : 2).[0m ×2 + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090390 ms (missed cycles : 4). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.090390 ms (missed cycles : 4).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.689ms + 24.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651420 ms (missed cycles : 3). + 24.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.651420 ms (missed cycles : 3).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672575 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.672575 ms (missed cycles : 3).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.053ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 26.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720498 ms (missed cycles : 2). + 26.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720498 ms (missed cycles : 2).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474762 ms (missed cycles : 4). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.474762 ms (missed cycles : 4).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 27.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.088ms + 28.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182228 ms (missed cycles : 5). + 28.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.182228 ms (missed cycles : 5).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.527ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 29.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833924 ms (missed cycles : 2). + 29.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833924 ms (missed cycles : 2).[0m ×2 + 29.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.511ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667213 ms (missed cycles : 2). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667213 ms (missed cycles : 2).[0m ×2 + 30.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635013 ms (missed cycles : 3). + 31.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.635013 ms (missed cycles : 3).[0m ×2 + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.040ms + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958671 ms (missed cycles : 2). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958671 ms (missed cycles : 2).[0m ×2 + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319829 ms (missed cycles : 4). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319829 ms (missed cycles : 4).[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749105 ms (missed cycles : 3). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.749105 ms (missed cycles : 3).[0m ×2 + 35.43sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868644 ms (missed cycles : 3). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.868644 ms (missed cycles : 3).[0m ×2 + 36.27sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.27sINFOobjective_server_nodePlanning for 46 path waypoints. ×3 + 36.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262198 ms (missed cycles : 4). + 36.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.262198 ms (missed cycles : 4).[0m ×2 + 37.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.800ms + 37.61sINFOros2_control_nodeMuJoCo sim: 2.87% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064634 ms (missed cycles : 2). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064634 ms (missed cycles : 2).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 38.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222155 ms (missed cycles : 2). + 38.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.222155 ms (missed cycles : 2).[0m ×2 + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.479ms + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 39.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 40.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899886 ms (missed cycles : 5). + 40.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.899886 ms (missed cycles : 5).[0m ×2 + 40.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 41.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716972 ms (missed cycles : 5). + 41.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.716972 ms (missed cycles : 5).[0m ×2 + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460416 ms (missed cycles : 4). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.460416 ms (missed cycles : 4).[0m ×2 + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883171 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883171 ms (missed cycles : 2).[0m ×2 + 44.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360557 ms (missed cycles : 4). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.360557 ms (missed cycles : 4).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 45.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872807 ms (missed cycles : 2). + 45.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872807 ms (missed cycles : 2).[0m ×2 + 46.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.468ms + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855752 ms (missed cycles : 2). + 46.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855752 ms (missed cycles : 2).[0m ×2 + 46.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 47.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms ×2 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335102 ms (missed cycles : 3). + 47.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.335102 ms (missed cycles : 3).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 49.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773393 ms (missed cycles : 2). + 49.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.773393 ms (missed cycles : 2).[0m ×2 + 50.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259391 ms (missed cycles : 2). + 50.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.259391 ms (missed cycles : 2).[0m ×2 + 50.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 51.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457330 ms (missed cycles : 3). + 51.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.457330 ms (missed cycles : 3).[0m ×2 + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 52.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386163 ms (missed cycles : 3). + 52.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.386163 ms (missed cycles : 3).[0m ×2 + 53.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938860 ms (missed cycles : 2). + 53.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938860 ms (missed cycles : 2).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 54.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197667 ms (missed cycles : 2). + 54.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197667 ms (missed cycles : 2).[0m ×2 + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 55.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005501 ms (missed cycles : 2). + 55.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005501 ms (missed cycles : 2).[0m ×2 + 56.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 56.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843208 ms (missed cycles : 4). + 56.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843208 ms (missed cycles : 4).[0m ×2 + 57.08sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786078347.25779462 seconds ×3 + 57.23sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 10.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 57.23sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.09) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 57.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.923ms + 57.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410798 ms (missed cycles : 2). + 57.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410798 ms (missed cycles : 2).[0m ×2 + 57.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.476ms + 57.65sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786078347.81863427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.594ms + 58.09sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 58.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.228ms + 58.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.909ms + 58.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076031 ms (missed cycles : 4). + 58.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076031 ms (missed cycles : 4).[0m ×2 + 58.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.433ms + 59.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.963ms + 59.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.661ms + 59.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726469 ms (missed cycles : 2). + 59.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726469 ms (missed cycles : 2).[0m ×2 + 59.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.7s | 147 warnings · 142 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 4.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 5.69sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.04sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.04sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408582 ms (missed cycles : 2). + 6.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408582 ms (missed cycles : 2).[0m ×2 + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855906 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.855906 ms (missed cycles : 3).[0m ×2 + 8.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800612 ms (missed cycles : 2). + 8.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.800612 ms (missed cycles : 2).[0m ×2 + 9.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031325 ms (missed cycles : 2). + 9.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031325 ms (missed cycles : 2).[0m ×2 + 10.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781326 ms (missed cycles : 2). + 10.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781326 ms (missed cycles : 2).[0m ×2 + 11.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766655 ms (missed cycles : 2). + 11.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766655 ms (missed cycles : 2).[0m ×2 + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965568 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.965568 ms (missed cycles : 2).[0m ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027347 ms (missed cycles : 3). + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.027347 ms (missed cycles : 3).[0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932134 ms (missed cycles : 2). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.932134 ms (missed cycles : 2).[0m ×2 + 16.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848548 ms (missed cycles : 2). + 16.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.848548 ms (missed cycles : 2).[0m ×2 + 17.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438213 ms (missed cycles : 3). + 17.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.438213 ms (missed cycles : 3).[0m ×2 + 18.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817790 ms (missed cycles : 3). + 18.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.817790 ms (missed cycles : 3).[0m ×2 + 19.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503775 ms (missed cycles : 2). + 19.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503775 ms (missed cycles : 2).[0m ×2 + 20.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369606 ms (missed cycles : 3). + 20.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369606 ms (missed cycles : 3).[0m ×2 + 20.81sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 3.280ms + 21.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329789 ms (missed cycles : 2). + 21.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329789 ms (missed cycles : 2).[0m ×2 + 22.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825028 ms (missed cycles : 2). + 22.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825028 ms (missed cycles : 2).[0m ×2 + 23.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880118 ms (missed cycles : 2). + 23.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880118 ms (missed cycles : 2).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417618 ms (missed cycles : 3). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.417618 ms (missed cycles : 3).[0m ×2 + 25.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939567 ms (missed cycles : 3). + 25.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939567 ms (missed cycles : 3).[0m ×2 + 26.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049027 ms (missed cycles : 2). + 26.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049027 ms (missed cycles : 2).[0m ×2 + 27.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009895 ms (missed cycles : 4). + 27.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009895 ms (missed cycles : 4).[0m ×2 + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280824 ms (missed cycles : 4). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.280824 ms (missed cycles : 4).[0m ×2 + 29.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029502 ms (missed cycles : 2). + 29.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029502 ms (missed cycles : 2).[0m ×2 + 30.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435140 ms (missed cycles : 4). + 30.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435140 ms (missed cycles : 4).[0m ×2 + 32.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256183 ms (missed cycles : 2). + 32.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.256183 ms (missed cycles : 2).[0m ×2 + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112599 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.112599 ms (missed cycles : 2).[0m ×2 + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880933 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880933 ms (missed cycles : 3).[0m ×2 + 35.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228014 ms (missed cycles : 2). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228014 ms (missed cycles : 2).[0m ×2 + 36.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012456 ms (missed cycles : 2). + 36.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012456 ms (missed cycles : 2).[0m ×2 + 37.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240928 ms (missed cycles : 4). + 37.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.240928 ms (missed cycles : 4).[0m ×2 + 38.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052370 ms (missed cycles : 4). + 38.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.052370 ms (missed cycles : 4).[0m ×2 + 39.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751844 ms (missed cycles : 3). + 39.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751844 ms (missed cycles : 3).[0m ×2 + 40.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546475 ms (missed cycles : 3). + 40.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546475 ms (missed cycles : 3).[0m ×2 + 41.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031944 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.031944 ms (missed cycles : 2).[0m ×2 + 42.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957774 ms (missed cycles : 2). + 42.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957774 ms (missed cycles : 2).[0m ×2 + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2).[0m ×2 + 45.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3). + 45.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3).[0m ×2 + 46.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3). + 46.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3).[0m ×2 + 47.70sINFOjoint_trajectory_controllerGoal reached, success! + 47.70sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786078195.52015400 seconds ×3 + 47.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2). + 47.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2).[0m ×2 + 48.31sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786078196.08127260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 49.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3). + 49.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3).[0m ×2 + 49.48sINFOobjective_server_nodeFound path in 0 iterations (2.6647e-05 s). ×2 + 49.48sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3). + 50.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 110 warnings · 115 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 0.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 0.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.786ms + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062139 ms (missed cycles : 2). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062139 ms (missed cycles : 2).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024211 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024211 ms (missed cycles : 2).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.942ms + 2.82sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.82sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.85sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786078261.83511186 seconds ×3 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506201 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506201 ms (missed cycles : 3).[0m ×2 + 3.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787959 ms (missed cycles : 3). + 4.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787959 ms (missed cycles : 3).[0m ×2 + 4.41sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786078263.39433670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.83sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322425 ms (missed cycles : 4). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322425 ms (missed cycles : 4).[0m ×2 + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109320 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109320 ms (missed cycles : 2).[0m ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.07sINFOjoint_trajectory_controllerReceived new action goal + 7.07sINFOjoint_trajectory_controllerAccepted new action goal + 7.07sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.08sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002430 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.002430 ms (missed cycles : 2).[0m ×2 + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006154 ms (missed cycles : 4). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006154 ms (missed cycles : 4).[0m ×2 + 8.80sINFOros2_control_nodeMuJoCo sim: 2.53% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.861ms + 9.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.040ms + 9.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621797 ms (missed cycles : 3). + 9.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621797 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.723ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.680ms + 10.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476823 ms (missed cycles : 3). + 10.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.476823 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.763ms + 11.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.943ms + 11.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575677 ms (missed cycles : 3). + 11.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575677 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.667ms + 12.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.559ms + 12.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888190 ms (missed cycles : 4). + 12.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.888190 ms (missed cycles : 4).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.635ms + 13.70sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 7.993ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764142 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764142 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 7.646ms + 14.70sINFOamclParticle filter update iteration stats: 3295 particles 723 points - 6.200ms + 15.19sINFOamclParticle filter update iteration stats: 2899 particles 723 points - 3.634ms + 15.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653569 ms (missed cycles : 2). + 15.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.653569 ms (missed cycles : 2).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 2460 particles 723 points - 3.040ms + 16.19sINFOamclParticle filter update iteration stats: 1925 particles 723 points - 3.205ms + 16.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683831 ms (missed cycles : 3). + 16.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683831 ms (missed cycles : 3).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1321 particles 723 points - 2.474ms + 17.19sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.415ms + 17.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100797 ms (missed cycles : 2). + 17.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.100797 ms (missed cycles : 2).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 18.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831091 ms (missed cycles : 2). + 18.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.831091 ms (missed cycles : 2).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 19.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214245 ms (missed cycles : 3). + 19.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.214245 ms (missed cycles : 3).[0m ×2 + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.027ms + 20.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811943 ms (missed cycles : 4). + 20.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.811943 ms (missed cycles : 4).[0m ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 21.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192048 ms (missed cycles : 3). + 21.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192048 ms (missed cycles : 3).[0m ×2 + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 22.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965934 ms (missed cycles : 3). + 22.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965934 ms (missed cycles : 3).[0m ×2 + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.432ms + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 23.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039561 ms (missed cycles : 3). + 23.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039561 ms (missed cycles : 3).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 24.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078959 ms (missed cycles : 4). + 24.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.078959 ms (missed cycles : 4).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 25.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007905 ms (missed cycles : 4). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.007905 ms (missed cycles : 4).[0m ×2 + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.419ms + 26.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934309 ms (missed cycles : 4). + 26.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.934309 ms (missed cycles : 4).[0m ×2 + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 27.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123014 ms (missed cycles : 2). + 27.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.123014 ms (missed cycles : 2).[0m ×2 + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788422 ms (missed cycles : 3). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.788422 ms (missed cycles : 3).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311427 ms (missed cycles : 2). + 29.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311427 ms (missed cycles : 2).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 30.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047791 ms (missed cycles : 3). + 30.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047791 ms (missed cycles : 3).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 31.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3). + 31.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2). + 33.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2).[0m ×2 + 33.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 33.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 34.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3). + 34.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3).[0m ×2 + 34.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2). + 35.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2).[0m ×2 + 35.48sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786078294.46447420 seconds ×3 + 35.62sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.62sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.822ms + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 36.05sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786078295.02765489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3). + 36.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3).[0m ×2 + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.703ms + 36.44sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 36.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4). + 37.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.075ms + 37.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.825ms + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.375ms + 38.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.329ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.9s | 62 warnings · 134 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145643 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145643 ms (missed cycles : 4).[0m ×2 + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015418 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.015418 ms (missed cycles : 3).[0m ×2 + 2.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759704 ms (missed cycles : 5). + 2.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.759704 ms (missed cycles : 5).[0m ×2 + 3.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640532 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.640532 ms (missed cycles : 3).[0m ×2 + 3.91sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.91sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.93sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786078492.72635436 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.113ms + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.845ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986996 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.986996 ms (missed cycles : 2).[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.390ms + 4.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786078493.29769301 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 + 4.52sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.709ms + 4.87sINFOobjective_server_nodeFound path in 0 iterations (2.17e-07 s). ×2 + 4.90sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.92sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.92sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.92sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.92sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356120 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356120 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128977 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.128977 ms (missed cycles : 2).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.789ms + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214632 ms (missed cycles : 2). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.214632 ms (missed cycles : 2).[0m ×2 + 7.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.808ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774430 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.774430 ms (missed cycles : 3).[0m ×2 + 9.27sINFOobjective_server_nodeFound path in 0 iterations (3.93e-07 s). ×2 + 9.31sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (3.32e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X_____________________X] ×2 + 9.43sINFOobjective_server_nodeFound path in 0 iterations (3.8e-07 s). ×2 + 9.49sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.54sINFOobjective_server_nodeFound path in 0 iterations (1.138e-06 s). ×2 + 9.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163197 ms (missed cycles : 4). + 9.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.163197 ms (missed cycles : 4).[0m ×2 + 9.72sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×2 + 9.77sINFOobjective_server_nodeFound path in 0 iterations (1.525e-06 s). ×2 + 9.96sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 10.08sINFOobjective_server_nodeFound path in 29 iterations (0.0583582 s). ×2 + 10.40sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X_____X] ×2 + 10.50sINFOobjective_server_nodeFound path in 0 iterations (3.48e-07 s). ×2 + 10.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735466 ms (missed cycles : 3). + 10.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.735466 ms (missed cycles : 3).[0m ×2 + 11.07sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.12sINFOobjective_server_nodeFound path in 0 iterations (2.32e-07 s). ×2 + 11.54sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721721 ms (missed cycles : 4). + 11.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.721721 ms (missed cycles : 4).[0m ×2 + 11.80sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369815 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.369815 ms (missed cycles : 3).[0m ×2 + 13.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.127ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578662 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578662 ms (missed cycles : 3).[0m ×2 + 14.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.933ms + 14.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.543ms + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2).[0m ×2 + 15.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 15.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2). + 15.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2).[0m ×2 + 15.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3).[0m ×2 + 16.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.630ms + 17.80sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786078506.60181284 seconds ×3 + 17.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.920ms + 18.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3). + 18.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3).[0m ×2 + 18.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 18.42sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078507.21661973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.42sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.42sINFOmove_groupClearing octomap...[0m ×2 + 18.42sINFOmove_groupOctomap cleared.[0m ×2 + 18.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 18.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.159ms + 18.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078507.72676492 seconds ×3 + 19.01sINFOros2_control_nodeMuJoCo sim: 5.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 19.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2).[0m ×2 + 19.49sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078508.28635168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 19.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 20.11sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078508.90649295 seconds ×3 + 20.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2). + 20.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.509ms + 20.35sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.8s | 92 errors · 36 warnings · 401 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.543ms + 0.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2). + 0.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.630ms + 2.99sINFOjoint_trajectory_controllerGoal reached, success! + 2.99sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786078506.60181284 seconds ×3 + 3.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.920ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 3.63sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078507.21661973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.64sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.64sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.159ms + 4.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078507.72676492 seconds ×3 + 4.22sINFOros2_control_nodeMuJoCo sim: 5.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078508.28635168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 5.32sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078508.90649295 seconds ×3 + 5.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2). + 5.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.509ms + 5.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.367ms + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928541 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928541 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.138ms + 7.37sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786078510.651 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311280 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.311280 ms (missed cycles : 2).[0m ×2 + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787690 ms (missed cycles : 2). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787690 ms (missed cycles : 2).[0m ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925040 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.925040 ms (missed cycles : 2).[0m ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610373 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610373 ms (missed cycles : 3).[0m ×2 + 11.41sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.42sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.49sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORweb_video_auth_proxy-35process has died [pid 9594, 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 + 11.49sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.55sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORweb_bridge_auth_proxy-34process has died [pid 9590, 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 + 11.56sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.57sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.58sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.59sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.60sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.61sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.62sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.63sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.64sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658800 ms (missed cycles : 3). + 11.68sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.72sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.75sINFOvideo_server-33process has finished cleanly [pid 9589] ×2 + 11.75sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.79sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.82sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.86sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.90sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.93sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.96sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9588] ×2 + 11.97sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.00sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.02sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.03sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.06sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.10sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.10sINFOcontroller_managerShutdown request received.... + 12.10sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.10sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.10sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.10sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.10sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.10sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.10sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.10sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.10sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.10sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.10sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.10sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.10sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.10sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.10sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.10sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.10sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.10sINFOcontroller_managerShutting down the controller manager. + 12.11sINFOui_teleop_bridge-30process has finished cleanly [pid 9586] ×2 + 12.13sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.13sERRORmove_group-21process has died [pid 9557, 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_tbh2lbh4 --params-file /tmp/launch_params_7qsm1gje --params-file /tmp/launch_params_51mx7l0q --params-file /tmp/launch_params_45ov122b --params-file /tmp/launch_params_3dbmdzhv --params-file /tmp/launch_params_5menx4c2']. ×2 + 12.14sINFOcomponent_container_mt-28process has finished cleanly [pid 9584] ×2 + 12.15sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.17sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786078515.451 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.18sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.19sINFOexecute_objective_bridge-29process has finished cleanly [pid 9585] ×2 + 12.20sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.22sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.25sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.28sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.28sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.28sINFOmap_serverDeactivating + 12.28sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.29sINFOmap_serverCleaning up + 12.29sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.29sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.31sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.31sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.31sINFOcontroller_serverDeactivating + 12.31sINFOlocal_costmap.local_costmapDeactivating + 12.31sINFOvideo_server2026/08/07 04:55:15 INF shutting down gracefully ×2 + 12.31sINFOvideo_server2026/08/07 04:55:15 INF [WebRTC] closing ×2 + 12.31sINFOvideo_server2026/08/07 04:55:15 INF [RTSP] closing ×2 + 12.31sINFOvideo_server2026/08/07 04:55:15 INF waiting for running hooks ×2 + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658800 ms (missed cycles : 3).[0m ×2 + 12.31sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.31sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.31sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.31sERRORamclThe bond connection to the lifecycle manager has been broken + 12.31sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.32sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.32sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.32sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.32sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.32sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.32sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.32sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.32sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.33sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.33sERRORmove_groupStack trace (most recent call last) in thread 10191: ×2 + 12.33sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.33sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fa551da63, in __clone ×2 + 12.33sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fa5490aa3, in ×2 + 12.33sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fa5722db3, in ×2 + 12.33sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f3fa5e8eed7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.33sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3fa5ab4620, in rclcpp::Rate::sleep() ×2 + 12.33sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3fa59f6d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.33sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f3fa59b8087, in ×2 + 12.33sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fa56f1390, in __cxa_throw ×2 + 12.33sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fa56dba54, in std::terminate() ×2 + 12.33sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fa56f10d9, in ×2 + 12.33sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f3fa56dbff4, in ×2 + 12.33sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fa541c8fe, in abort ×2 + 12.33sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fa543927d, in raise ×2 + 12.33sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f3fa5492b2c, in pthread_kill ×2 + 12.33sERRORmove_groupAborted (Signal sent by tkill() 9557 0) ×2 + 12.33sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.33sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.33sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.33sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.33sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.33sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.33sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.33sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.33sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.33sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.33sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.33sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.33sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.33sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.33sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.33sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 12.33sINFOcontroller_serverCleaning up + 12.33sINFOlocal_costmap.local_costmapCleaning up + 12.33sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.34sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.34sINFOodom_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 + 12.34sINFOodom_qos_relay.pymain() ×2 + 12.34sINFOodom_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 + 12.34sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.34sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.34sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.34sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.34sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.34sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.34sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.34sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.34sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.34sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.35sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.35sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.35sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.38sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.38sINFOsmoother_serverDeactivating + 12.38sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.39sINFOsmoother_serverCleaning up + 12.40sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.40sINFOplanner_serverDeactivating + 12.40sINFOglobal_costmap.global_costmapDeactivating + 12.49sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.49sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.49sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.49sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.49sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.49sINFOvelocity_smootherDeactivating + 12.49sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.52sERRORcomponent_container_isolated-2process has died [pid 9461, 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_3vsebm0n --params-file /tmp/launch_params_pbe895r2 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.60sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.61sINFOwaypoint_followerDeactivating + 12.61sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.72sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.72sINFObt_navigatorDeactivating + 12.72sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.83sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.83sINFObehavior_serverDeactivating + 12.83sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.94sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.94sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.94sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.94sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.94sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.94sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.94sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.95sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.95sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.95sINFOvelocity_smootherCleaning up + 12.95sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.95sINFOwaypoint_followerCleaning up + 12.98sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.98sINFObt_navigatorCleaning up + 13.00sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9580] ×2 + 13.02sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9578] ×2 + 13.05sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.05sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.06sINFOplanner_serverCleaning up + 13.08sINFOglobal_costmap.global_costmapCleaning up + 13.09sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.09sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.10sINFOwaypoint_manager_node-23process has finished cleanly [pid 9577] ×2 + 13.10sINFOparameter_manager_node-22process has finished cleanly [pid 9558] ×2 + 13.12sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.12sINFObehavior_serverCleaning up + 13.12sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.12sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.12sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.12sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.13sINFOcomponent_container_mt-27process has finished cleanly [pid 9583] ×2 + 13.14sINFOobjective_server_node[2026-08-07 04:55:16.718] [moveit_pro_license] [info] ×2 + 13.14sINFOobjective_server_node************************************************* ×4 + 13.14sINFOobjective_server_node* MoveIt Pro License ×2 + 13.14sINFOobjective_server_node* Application has successfully terminated ×2 + 13.16sINFObt_navigatorCompleted Cleaning up + 13.16sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.18sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9467] ×2 + 13.19sINFOobjective_server_node_main-26process has finished cleanly [pid 9581] ×2 + 13.19sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.20sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9466] ×2 + 13.21sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.21sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.21sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.21sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.21sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.21sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.21sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.27sINFOstatic_transform_publisher-4process has finished cleanly [pid 9463] ×2 + 13.30sINFOstatic_transform_publisher-3process has finished cleanly [pid 9462] ×2 + 13.31sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9465] ×2 + 13.33sERRORodom_qos_relay.py-5process has died [pid 9464, 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 + 13.49sERRORcomponent_container_isolated-1process has died [pid 9460, 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_3vsebm0n --params-file /tmp/launch_params_fgb1nj2s -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.66sINFOweb_bridge-31process has finished cleanly [pid 9587] ×2 + 14.66sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.84sINFOros2_control_node-9process has finished cleanly [pid 9468] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 10.9s | 3 errors · 55 warnings · 89 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938860 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.938860 ms (missed cycles : 2).[0m ×2 + 0.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 1.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197667 ms (missed cycles : 2). + 1.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197667 ms (missed cycles : 2).[0m ×2 + 1.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005501 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.005501 ms (missed cycles : 2).[0m ×2 + 2.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843208 ms (missed cycles : 4). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843208 ms (missed cycles : 4).[0m ×2 + 3.62sINFOjoint_trajectory_controllerGoal reached, success! + 3.62sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.63sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786078347.25779462 seconds ×3 + 3.64sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.65sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-1.84, 10.62) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.09) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.923ms + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410798 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.410798 ms (missed cycles : 2).[0m ×2 + 4.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.476ms + 4.19sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786078347.81863427 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.22sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.594ms + 4.63sINFOobjective_server_nodeFound path in 0 iterations (3.51e-07 s). ×2 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.228ms + 5.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.909ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076031 ms (missed cycles : 4). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.076031 ms (missed cycles : 4).[0m ×2 + 5.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.433ms + 5.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.963ms + 5.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.661ms + 6.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726469 ms (missed cycles : 2). + 6.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.726469 ms (missed cycles : 2).[0m ×2 + 6.20sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.358ms + 6.26sINFOjoint_trajectory_controllerReceived new action goal + 6.26sINFOjoint_trajectory_controllerAccepted new action goal + 6.27sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.27sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.431ms + 7.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.886ms + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604831 ms (missed cycles : 3). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.604831 ms (missed cycles : 3).[0m ×2 + 7.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.037ms + 7.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.502ms + 8.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947371 ms (missed cycles : 5). + 8.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.947371 ms (missed cycles : 5).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.727ms + 9.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697432 ms (missed cycles : 2). + 9.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.697432 ms (missed cycles : 2).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.851ms + 10.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.530ms + 10.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677568 ms (missed cycles : 2). + 10.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677568 ms (missed cycles : 2).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 4735 particles 723 points - 8.466ms + 11.25sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 6.038ms + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931212 ms (missed cycles : 3). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931212 ms (missed cycles : 3).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 3700 particles 723 points - 5.245ms + 12.25sINFOamclParticle filter update iteration stats: 3575 particles 723 points - 4.882ms + 12.75sINFOamclParticle filter update iteration stats: 3066 particles 723 points - 4.276ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019416 ms (missed cycles : 4). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.019416 ms (missed cycles : 4).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 3.664ms + 13.75sINFOamclParticle filter update iteration stats: 2156 particles 723 points - 3.234ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071373 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.071373 ms (missed cycles : 2).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1977 particles 723 points - 2.939ms + 14.56sINFOobjective_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 + 14.56sINFOjoint_trajectory_controllerGot request to cancel goal + 14.56sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.56sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.56sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.57sERRORobjective_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: 1786078358.20273590 seconds ×3 + 14.67sWARNlocal_costmap.local_costmapSensor origin at (-0.77, 4.06) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.67sWARNlocal_costmap.local_costmapSensor origin at (-1.66, 4.00) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 14.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.675ms + 14.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285116 ms (missed cycles : 3). + 14.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285116 ms (missed cycles : 3).[0m ×2 + 15.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.443ms + 15.13sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786078358.76393080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.374ms + 15.59sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 15.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.326ms + 15.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.743ms + 16.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829042 ms (missed cycles : 3). + 16.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.829042 ms (missed cycles : 3).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.501ms + 16.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.510ms + 16.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.329ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653467 ms (missed cycles : 3). + 17.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.653467 ms (missed cycles : 3).[0m ×2 + 17.15sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 6.476ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 35 warnings · 58 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.23sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 + 6.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.786ms + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062139 ms (missed cycles : 2). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.062139 ms (missed cycles : 2).[0m ×2 + 7.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024211 ms (missed cycles : 2). + 7.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024211 ms (missed cycles : 2).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.942ms + 8.02sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786078261.83511186 seconds ×3 + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506201 ms (missed cycles : 3). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506201 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787959 ms (missed cycles : 3). + 9.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787959 ms (missed cycles : 3).[0m ×2 + 9.58sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786078263.39433670 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.99sINFOobjective_server_nodeFound path in 0 iterations (5.02e-07 s). ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322425 ms (missed cycles : 4). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322425 ms (missed cycles : 4).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 5.0s | 37 warnings · 59 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.706ms + 0.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.486878 ms (missed cycles : 5). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.486878 ms (missed cycles : 5).[0m ×2 + 0.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.142ms + 1.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768323 ms (missed cycles : 4). + 1.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.768323 ms (missed cycles : 4).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.524ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 2.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354805 ms (missed cycles : 4). + 2.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354805 ms (missed cycles : 4).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.083ms + 4.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112274 ms (missed cycles : 4). + 4.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.112274 ms (missed cycles : 4).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.22sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.23sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786078430.20412683 seconds ×3 + 4.25sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.31, 13.67) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.12, 13.28) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.638ms + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-0.64, 5.30) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-1.52, 5.14) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.618ms + 4.80sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786078430.76985884 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.116ms + 4.88sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.88sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 5.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 5.35sINFOjoint_trajectory_controllerReceived new action goal + 5.35sINFOjoint_trajectory_controllerAccepted new action goal + 5.35sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.35sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 6.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 6.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 7.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 8.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 8.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 9.20sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 9.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 9.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 9.77sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.28sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 10.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 10.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 11.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 11.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.9s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.16sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786078195.52015400 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786078196.08127260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.6647e-05 s). ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 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 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3).[0m ×2 + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651420 ms (missed cycles : 3). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651420 ms (missed cycles : 3).[0m ×2 + 8.07sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786078199.38141584 seconds ×3 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995479 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995479 ms (missed cycles : 3).[0m ×2 + 8.63sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786078199.94430804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365348 ms (missed cycles : 2). + 9.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365348 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 24 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.127ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578662 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578662 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.933ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.543ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.630ms + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786078506.60181284 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.920ms + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078507.21661973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.94sINFOmove_groupClearing octomap...[0m ×2 + 4.94sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.159ms + 5.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078507.72676492 seconds ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 5.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078508.28635168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078508.90649295 seconds ×3 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.509ms + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.367ms + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928541 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928541 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.138ms | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 0.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 0.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 1.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 1.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 1.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.13sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.13sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.13sINFOmove_groupClearing octomap...[0m ×2 + 2.13sINFOmove_groupOctomap cleared.[0m ×2 + 2.14sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 2.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 2.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 2.70sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.71sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 3.27sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 3.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 3.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.02sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.03sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.03sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.03sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.03sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.03sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.03sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.05sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.05sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.05sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.06sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.06sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 4.62sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.63sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.63sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.63sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.63sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.63sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.63sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.63sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 5.69sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.69sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 5.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.04sINFOjoint_trajectory_controllerReceived new action goal + 6.04sINFOjoint_trajectory_controllerAccepted new action goal + 6.04sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.05sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | Find and Spray Plane | find_and_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786078195.52015400 seconds ×3 + 0.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.08sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786078196.08127260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3).[0m ×2 + 1.78sINFOobjective_server_nodeFound path in 0 iterations (2.6647e-05 s). ×2 + 1.78sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.81sINFOjoint_trajectory_controllerReceived new action goal + 1.81sINFOjoint_trajectory_controllerAccepted new action goal + 1.81sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.81sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3). + 2.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651420 ms (missed cycles : 3). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.651420 ms (missed cycles : 3).[0m ×2 + 3.91sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786078199.38141584 seconds ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995479 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.995479 ms (missed cycles : 3).[0m ×2 + 4.48sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786078199.94430804 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeFound path in 0 iterations (2.98e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365348 ms (missed cycles : 2). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.365348 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 38 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 + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.076257 ms (missed cycles : 3).[0m ×2 + 0.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 0.46sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.753ms + 1.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.957282 ms (missed cycles : 2).[0m ×2 + 1.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.151ms + 2.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.962726 ms (missed cycles : 3).[0m ×2 + 3.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.026ms + 3.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.946616 ms (missed cycles : 2).[0m ×2 + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786078435.17001915 seconds ×3 + 4.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105538 ms (missed cycles : 2).[0m ×2 + 4.89sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786078435.74622393 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.40sINFOobjective_server_nodeFound path in 0 iterations (4.22e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308914 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.701126 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 21 warnings · 48 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.127ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578662 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.578662 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.933ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.543ms + 1.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2). + 1.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963487 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.225ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.446865 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.696ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.779652 ms (missed cycles : 3).[0m ×2 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.630ms + 4.29sINFOjoint_trajectory_controllerGoal reached, success! + 4.29sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786078506.60181284 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.920ms + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.708532 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.491ms + 4.94sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786078507.21661973 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.94sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.94sINFOmove_groupClearing octomap...[0m ×2 + 4.94sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.654ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.159ms + 5.45sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786078507.72676492 seconds ×3 + 5.52sINFOros2_control_nodeMuJoCo sim: 5.11% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.392ms + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.471154 ms (missed cycles : 2).[0m ×2 + 6.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786078508.28635168 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.056ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.040ms + 6.63sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786078508.90649295 seconds ×3 + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476804 ms (missed cycles : 2).[0m ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.509ms + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 | ||||
| − skipped | Cartesian Path with Collision Checking | cartesian_path_with_collision_checking.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786078195.52015400 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786078196.08127260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.6647e-05 s). ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×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 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Cartesian Plan Simple Square | cartesian_plan_simple_square.xml | 0.0s | 21 warnings · 29 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.515773 ms (missed cycles : 2).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062808 ms (missed cycles : 2).[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.806149 ms (missed cycles : 3).[0m ×2 + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.328189 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.21sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786078195.52015400 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746740 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786078196.08127260 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3). + 5.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.285427 ms (missed cycles : 3).[0m ×2 + 5.94sINFOobjective_server_nodeFound path in 0 iterations (2.6647e-05 s). ×2 + 5.94sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.95sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.95sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×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 + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.600946 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 20 warnings · 35 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.809819 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295575 ms (missed cycles : 2).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.940098 ms (missed cycles : 3).[0m ×2 + 2.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.143276 ms (missed cycles : 2).[0m ×2 + 3.23sINFOjoint_trajectory_controllerGoal reached, success! + 3.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.28sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786078257.09446001 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.39sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.164ms + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.763ms + 3.86sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786078257.67495894 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.89sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.357ms + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.330329 ms (missed cycles : 2).[0m ×2 + 4.26sINFOobjective_server_nodeFound path in 0 iterations (3.02e-07 s). ×2 + 4.29sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.32sINFOjoint_trajectory_controllerReceived new action goal + 4.32sINFOjoint_trajectory_controllerAccepted new action goal + 4.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.747ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.463ms + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133700 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 20 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2).[0m ×2 + 4.24sINFOjoint_trajectory_controllerGoal reached, success! + 4.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786078294.46447420 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.822ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 4.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786078295.02765489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.703ms + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.075ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.825ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.375ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.329ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 20 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2).[0m ×2 + 4.24sINFOjoint_trajectory_controllerGoal reached, success! + 4.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786078294.46447420 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.822ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 4.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786078295.02765489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.703ms + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.075ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.825ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.375ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.329ms | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 20 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 0.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3). + 0.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703903 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms + 1.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875189 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.343ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 2.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3). + 2.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.161560 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2). + 3.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826303 ms (missed cycles : 2).[0m ×2 + 4.24sINFOjoint_trajectory_controllerGoal reached, success! + 4.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786078294.46447420 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.84) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.822ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.369ms + 4.85sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786078295.02765489 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3). + 4.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750558 ms (missed cycles : 3).[0m ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.703ms + 5.25sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.254ms + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.875507 ms (missed cycles : 4).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.075ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.825ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.375ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.329ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Wait for Trajectory Approval if User Available | wait_for_trajectory_approval_if_user_available.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_clicked_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_segmented_point_cloud.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_image_from_point_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | segment_point_cloud_from_text_prompt_subtree.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| ✓ passed | — | clear_snapshot.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[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 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | addtovector.xml | 0.0s | 18 warnings · 85 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×2 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.917051 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 1.87sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 3.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.00sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.00sINFOmove_groupClearing octomap...[0m ×2 + 4.00sINFOmove_groupOctomap cleared.[0m ×2 + 4.01sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 4.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 4.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 5.14sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 5.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 5.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_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 + 5.89sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.89sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.90sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.90sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.90sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.90sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 5.92sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.92sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.92sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.92sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.93sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 6.49sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.50sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.50sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.50sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.50sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.50sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.50sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | move_to_waypoint.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | execute_mtc_solution_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_joint_state.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_pose_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | move_to_waypoint_jtc.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | record_teleop_trajectory.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | track_moving_frame.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | visualize_tf.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123907 ms (missed cycles : 2).[0m ×2 + 0.79sINFOros2_control_nodeMuJoCo sim: 1.86% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283615 ms (missed cycles : 3).[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.984389 ms (missed cycles : 2).[0m ×2 + 2.38sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.38sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.92sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786078149.89578080 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.92sINFOmove_groupClearing octomap...[0m ×2 + 2.93sINFOmove_groupOctomap cleared.[0m ×2 + 2.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786078149.90601683 seconds ×3 + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.012445 ms (missed cycles : 2).[0m ×2 + 3.50sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786078150.46935487 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.51sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786078150.47947693 seconds ×3 + 4.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786078151.03589559 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786078151.18668294 seconds ×3 + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2). + 4.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137732 ms (missed cycles : 2).[0m ×2 + 4.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786078151.77859426 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.82sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.85sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.85sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786078151.82872629 seconds ×3 + 5.41sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786078152.38886023 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.42sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.548009 ms (missed cycles : 2).[0m ×2 + 6.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.750580 ms (missed cycles : 2).[0m ×2 + 6.84sINFOjoint_trajectory_controllerReceived new action goal + 6.84sINFOjoint_trajectory_controllerAccepted new action goal + 6.84sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.84sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||