MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.5s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.6s	12 errors · 308 warnings · 1233 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/2026-08-10-20-57-33-443961-a7a1479545b8-9530 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.87sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 13.87sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 13.97sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.99sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.00sINFOcontroller_managerupdate rate is 600 Hz + 14.00sINFOcontroller_managerOverruns handling is : enabled + 14.00sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.00sWARNcontroller_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. + 14.09sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.12sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.15sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.16sINFOros2_control_node-9process started with pid [9588] ×2 + 14.16sINFOmove_group-21process started with pid [9677] ×2 + 14.16sINFOparameter_manager_node-22process started with pid [9678] ×2 + 14.16sINFOwaypoint_manager_node-23process started with pid [9679] ×2 + 14.16sINFOmove_joint_resampler_node-24process started with pid [9698] ×2 + 14.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.16sINFOmove_end_effector_resampler_node-25process started with pid [9699] ×2 + 14.16sINFOobjective_server_node_main-26process started with pid [9700] ×2 + 14.16sINFOcomponent_container_mt-27process started with pid [9701] ×2 + 14.16sINFOcomponent_container_mt-28process started with pid [9702] ×2 + 14.16sINFOexecute_objective_bridge-29process started with pid [9703] ×2 + 14.16sINFOui_teleop_bridge-30process started with pid [9704] ×2 + 14.16sINFOweb_bridge-31process started with pid [9705] ×2 + 14.16sINFOtf2_web_republisher_node-32process started with pid [9706] ×2 + 14.16sINFOvideo_server-33process started with pid [9707] ×2 + 14.16sINFOweb_bridge_auth_proxy-34process started with pid [9708] ×2 + 14.16sINFOweb_video_auth_proxy-35process started with pid [9709] ×2 + 14.17sINFOcomponent_container_isolated-1process started with pid [9580] ×2 + 14.17sINFOcomponent_container_isolated-2process started with pid [9581] ×2 + 14.17sINFOstatic_transform_publisher-3process started with pid [9582] ×2 + 14.17sINFOstatic_transform_publisher-4process started with pid [9583] ×2 + 14.17sINFOodom_qos_relay.py-5process started with pid [9584] ×2 + 14.19sINFOcontroller_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. + 14.19sINFOforward_stereo_publisher.py-6process started with pid [9585] ×2 + 14.19sINFOscan_to_scan_filter_chain-7process started with pid [9586] ×2 + 14.19sINFOscan_to_scan_filter_chain-8process started with pid [9587] ×2 + 14.19sINFOros2-10process started with pid [9666] ×2 + 14.19sINFOros2-11process started with pid [9667] ×2 + 14.19sINFOros2-12process started with pid [9668] ×2 + 14.19sINFOros2-13process started with pid [9669] ×2 + 14.19sINFOros2-14process started with pid [9670] ×2 + 14.19sINFOros2-15process started with pid [9671] ×2 + 14.20sINFOros2-16process started with pid [9672] ×2 + 14.20sINFOros2-17process started with pid [9673] ×2 + 14.20sINFOros2-18process started with pid [9674] ×2 + 14.20sINFOros2-19process started with pid [9675] ×2 + 14.20sINFOros2-20process started with pid [9676] ×2 + 14.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.318770 ms (missed cycles : 12). + 14.26sINFOcontroller_serverCreating controller server + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.27sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 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. + 14.31sINFOmap_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. + 14.31sINFOmap_serverCreating + 14.31sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.32sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.32sINFOlocal_costmap.local_costmapCreating Costmap + 14.32sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.32sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.32sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.32sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.32sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.32sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.32sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.32sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.32sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.32sWARNros2_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 + 14.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 19.318770 ms (missed cycles : 12).[0m ×2 + 14.34sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.34sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.35sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.36sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.39sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.39sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.39sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.40sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.40sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.41sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.43sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.44sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.44sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.46sINFOlifecycle_manager_localizationCreating + 14.46sINFOsmoother_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. + 14.47sINFOrobot_state_publisherRobot initialized + 14.47sINFOcontroller_managerReceived robot description from topic. + 14.47sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.47sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.49sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.49sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.49sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.50sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.50sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.50sINFOmap_serverConfiguring + 14.50sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.50sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.51sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.51sINFOsmoother_serverCreating smoother server + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.54sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.55sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.55sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.56sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.56sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.57sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.58sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.58sINFOamclConfiguring + 14.59sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.59sINFOmap_serverActivating + 14.59sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.59sINFOplanner_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. + 14.62sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.62sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.62sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.63sINFOplanner_serverCreating + 14.63sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.66sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.66sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.66sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.68sINFOglobal_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. + 14.69sINFOglobal_costmap.global_costmapCreating Costmap + 14.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.70sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.70sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.71sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.71sINFOamclActivating + 14.71sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.71sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.71sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.72sINFOamclSubscribed to map_topic: /map + 14.73sINFOamclSubscribed to scan_topic: /scan_merged + 14.73sINFOamclCreated reinitialize_global_localization service + 14.73sINFOamclCreated request_nomotion_update service + 14.74sINFObehavior_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. + 14.74sINFOamclA new map was received + 14.74sINFOamclInitializing particle filter instance + 14.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.79sINFObt_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. + 14.81sINFObt_navigatorCreating + 14.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.81sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.81sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.81sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.84sINFOwaypoint_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. + 14.84sINFOwaypoint_followerCreating + 14.86sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.86sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.86sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.86sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.88sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.88sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.88sINFOvideo_server2026/08/10 20:57:51 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.88sINFOvideo_server2026/08/10 20:57:51 INF configuration loaded from /tmp/moveit-webrtc-dsv1efts/mediamtx.yml ×2 + 14.88sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.89sINFOvideo_server2026/08/10 20:57:51 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.89sINFOvideo_server2026/08/10 20:57:51 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.90sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.357398 seconds + 14.90sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.90sINFOmove_groupLoaded robot model in 0.357398 seconds[0m ×2 + 14.90sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.90sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.90sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.91sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.93sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.93sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.93sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.98sINFOlifecycle_manager_navigationCreating + 15.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.01sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.04sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.04sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.04sINFOcontroller_serverConfiguring controller interface + 15.04sINFOcontroller_servergetting progress checker plugins.. + 15.04sINFOcontroller_servergetting goal checker plugins.. + 15.04sINFOcontroller_serverController frequency set to 20.0000Hz + 15.04sINFOlocal_costmap.local_costmapConfiguring + 15.05sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.08sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.11sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.11sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.12sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.16sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.16sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.17sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.17sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.18sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.20sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.21sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.22sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.22sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.23sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.23sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.23sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.23sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.24sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.24sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.24sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.25sINFOcontroller_serverOptimizer reset ×2 + 15.27sINFOcontroller_serverController Server has FollowPath controllers available. + 15.29sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.29sINFOsmoother_serverConfiguring smoother server + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950640 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950640 ms (missed cycles : 2).[0m ×2 + 15.30sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.30sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.32sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.32sINFOplanner_serverConfiguring + 15.32sINFOglobal_costmap.global_costmapConfiguring + 15.33sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.34sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.34sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.34sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.36sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.38sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.38sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.38sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.43sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.44sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.44sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.45sINFOplanner_serverPlanner Server has GridBased planners available. + 15.45sINFOamclParticle filter initialization completed + 15.45sINFOamclInitializing particles from estimated pose and covariance + 15.45sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.49sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.49sINFObehavior_serverConfiguring + 15.50sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.51sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.51sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.51sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.51sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.51sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.52sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.52sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.53sINFObehavior_serverConfiguring spin + 15.55sINFObehavior_serverConfiguring backup + 15.56sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.56sINFObehavior_serverConfiguring drive_on_heading + 15.58sINFObehavior_serverConfiguring assisted_teleop + 15.60sINFObehavior_serverConfiguring wait + 15.61sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.61sINFObt_navigatorConfiguring + 15.62sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.64sWARNbt_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 + 15.70sINFOwaypoint_manager_nodeLoaded robot model in 0.407145 seconds[0m ×2 + 15.70sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.70sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.84sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.84sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.84sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.85sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.86sWARNmove_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 + 15.98sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.11sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.11sINFOwaypoint_followerConfiguring + 16.14sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.15sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.15sINFOvelocity_smootherConfiguring velocity smoother + 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. ×13 + 16.30sINFOmove_group[2026-08-10 20:57:53.213] [moveit_pro_license] [info] ×2 + 16.30sINFOmove_group************************************************* ×4 + 16.30sINFOmove_group* MoveIt Pro License ×2 + 16.30sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.325914 ms (missed cycles : 6). + 16.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.325914 ms (missed cycles : 6).[0m ×2 + 16.47sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.47sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.47sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.48sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.48sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.48sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.48sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.48sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.49sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.50sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.52sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.52sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.53sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.53sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.55sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.55sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.56sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.57sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.57sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.58sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.59sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.66sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.66sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.66sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.67sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 17.03sINFOspawner_platform_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 17.03sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.09sINFOwaypoint_manager_node[2026-08-10 20:57:54.000] [moveit_pro_license] [info] ×2 + 17.09sINFOwaypoint_manager_node************************************************* ×4 + 17.09sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 17.09sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.10sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.11sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.11sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.11sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.11sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.11sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.11sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.12sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.12sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.13sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.13sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.14sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.15sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.15sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.15sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.15sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.16sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.18sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.18sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313751 ms (missed cycles : 3). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313751 ms (missed cycles : 3).[0m ×2 + 17.60sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.60sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.62sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.84sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.84sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.84sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.84sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.84sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.84sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.84sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.84sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.84sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.84sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.84sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.84sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.87sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.88sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.88sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 17.93sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.93sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.96sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 17.96sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 17.96sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 17.96sINFOstreaming_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) + 17.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.97sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.97sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.97sINFOcomponent_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 + 17.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.04sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.04sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.04sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.04sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.08sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 18.08sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 18.11sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.11sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.11sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.11sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.12sINFOplatform_velocity_controllerconfigure successful + 18.12sINFOros2_control_nodeconfigure successful[0m ×6 + 18.12sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.12sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.12sINFOcontroller_managerSuccessfully switched controllers! ×7 + 18.12sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 18.12sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.12sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.16sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.16sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.16sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.16sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.18sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.18sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.20sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.20sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.20sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.20sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.23sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.23sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.37sINFOobjective_server_node[2026-08-10 20:57:55.281] [moveit_pro_license] [info] ×2 + 18.37sINFOobjective_server_node************************************************* ×4 + 18.37sINFOobjective_server_node* MoveIt Pro License ×2 + 18.37sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.38sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.38sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.38sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.39sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.40sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335875 ms (missed cycles : 2). + 18.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.335875 ms (missed cycles : 2).[0m ×2 + 18.47sINFOobjective_server_nodeLoaded robot model in 0.0273501 seconds[0m ×2 + 18.47sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 18.47sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 18.47sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.47sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.47sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 18.47sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 18.47sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 18.47sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 18.49sINFOros2-13process has finished cleanly [pid 9669] ×2 + 18.53sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 18.53sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 18.53sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 18.53sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 18.54sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 18.54sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 18.54sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 18.55sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.85sINFOcomponent_container_mtLoaded robot model in 0.44228 seconds[0m ×2 + 18.85sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.85sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.86sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.88sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.88sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.88sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.88sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.91sINFOros2-11process has finished cleanly [pid 9667] ×2 + 18.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.98sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.98sWARNobjective_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. + 18.98sWARNobjective_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. + 18.98sWARNobjective_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. + 18.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.98sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.98sWARNobjective_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. + 18.98sWARNobjective_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 + 18.98sWARNobjective_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 + 18.98sWARNobjective_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. + 18.98sWARNobjective_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. + 18.98sWARNobjective_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. + 18.98sWARNobjective_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. + 18.98sWARNobjective_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 + 18.98sWARNobjective_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 + 18.98sWARNobjective_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 + 18.99sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.99sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 19.04sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 19.05sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 19.05sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.05sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.06sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.06sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.07sINFOobjective_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 + 19.07sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 19.08sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786395474.880 for reason 'discarding message because the queue is full' + 19.09sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 19.09sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 19.13sINFOmove_groupMoveGroup debug mode is ON + 19.13sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.14sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.27sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.27sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.28sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.28sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.28sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.28sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.28sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.37sWARNplanning_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. + 19.37sWARNplanning_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. + 19.37sWARNcomponent_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 + 19.37sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.37sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.37sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.37sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_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 + 19.38sWARNplanning_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. + 19.38sWARNplanning_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. + 19.38sWARNcomponent_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 + 19.38sWARNcomponent_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 + 19.38sWARNplanning_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. + 19.38sWARNcomponent_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 + 19.38sWARNplanning_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. + 19.38sWARNcomponent_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 + 19.38sWARNplanning_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. + 19.38sWARNplanning_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. + 19.38sWARNplanning_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. + 19.38sWARNcomponent_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 + 19.38sWARNplanning_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. + 19.38sWARNcomponent_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 + 19.38sWARNplanning_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. + 19.38sWARNplanning_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. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_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 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_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 + 19.38sWARNcomponent_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 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_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 + 19.38sWARNcomponent_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 + 19.38sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.38sWARNcomponent_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 + 19.38sWARNcomponent_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 + 19.39sWARNcomponent_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 + 19.39sWARNplanning_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. + 19.39sWARNplanning_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. + 19.39sWARNplanning_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. + 19.39sWARNplanning_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. + 19.39sWARNplanning_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. + 19.39sWARNcomponent_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 + 19.39sWARNcomponent_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 + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.39sWARNcomponent_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 + 19.39sWARNcomponent_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 + 19.39sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.40sWARNcomponent_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 + 19.41sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.41sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.45sINFOmove_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 ****************************************************** + 19.45sINFOmove_group ×8 + 19.45sINFOmove_group****************************************************** ×4 + 19.45sINFOmove_group* MoveGroup using: ×2 + 19.45sINFOmove_group* - apply_planning_scene_service ×2 + 19.45sINFOmove_group* - clear_octomap_service ×2 + 19.45sINFOmove_group* - get_group_urdf ×2 + 19.45sINFOmove_group* - load_geometry_from_file ×2 + 19.45sINFOmove_group* - get_planning_scene_service ×2 + 19.45sINFOmove_group* - kinematics_service ×2 + 19.45sINFOmove_group* - save_geometry_to_file ×2 + 19.45sINFOmove_group* - GetPlanningGroups ×2 + 19.45sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.45sINFOmove_group[0m ×2 + 19.46sINFOmove_group[92mYou can start planning now![0m ×2 + 19.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709972 ms (missed cycles : 2). + 19.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709972 ms (missed cycles : 2).[0m ×2 + 19.55sINFOros2_control_node[2026-08-10 20:57:56.463] [info] Controller state will be published at 20 Hz. ×2 + 19.55sINFOros2_control_node[2026-08-10 20:57:56.465] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.59sINFOcomponent_container_mt[2026-08-10 20:57:56.504] [moveit_pro_license] [info] ×2 + 19.59sINFOcomponent_container_mt************************************************* ×4 + 19.59sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.59sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.62sWARNros2_control_nodeCamera render tick took 0.70 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 + 19.62sWARNobjective_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 + 19.91sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.91sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 19.91sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.91sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 19.95sINFOros2-19process has finished cleanly [pid 9675] ×2 + 19.98sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 19.98sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 20.04sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.04sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.05sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.05sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.07sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 20.07sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 20.07sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 20.07sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 20.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.43sINFOros2_control_node[2026-08-10 20:57:57.347] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 20.44sINFOros2_control_node[2026-08-10 20:57:57.349] [info] Controller state will be published at 10 Hz. ×2 + 20.44sINFOros2_control_node[2026-08-10 20:57:57.350] [info] VelocityForceController 'on_configure' succeeded. ×2 + 20.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942080 ms (missed cycles : 2). + 20.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942080 ms (missed cycles : 2).[0m ×2 + 20.78sINFOros2-18process has finished cleanly [pid 9674] ×2 + 20.79sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.79sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.79sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.79sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.79sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 20.79sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 20.89sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.89sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.89sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.89sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.89sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.89sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.90sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.90sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.90sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.90sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.90sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.90sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.90sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.90sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.90sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 21.25sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.25sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.25sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 21.25sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.25sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.25sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 21.29sINFOros2-16process has finished cleanly [pid 9672] ×2 + 21.33sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.33sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.33sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.33sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.46sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814458 ms (missed cycles : 2). + 21.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.814458 ms (missed cycles : 2).[0m ×2 + 21.59sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786395477.380 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 21.80sINFOros2_control_node[2026-08-10 20:57:58.712] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.80sINFOros2_control_node[2026-08-10 20:57:58.714] [info] Controller state will be published at 10 Hz. ×2 + 21.80sINFOros2_control_node[2026-08-10 20:57:58.716] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.18sINFOros2-17process has finished cleanly [pid 9673] ×2 + 22.19sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 22.19sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 22.19sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 22.19sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 22.19sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 22.19sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 22.26sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 22.26sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 22.26sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 22.26sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 22.26sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 22.27sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 22.28sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 22.28sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 22.28sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 22.28sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 4.348ms + 22.62sINFOros2-12process has finished cleanly [pid 9668] ×2 + 22.63sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.63sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.63sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.63sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.63sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 22.63sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 22.66sINFOlocal_costmap.local_costmapstart + 22.70sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 22.70sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.70sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 22.70sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 22.70sINFOforce_torque_sensor_broadcasterconfigure successful + 22.71sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 22.71sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 22.71sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 22.71sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3). + 22.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002818 ms (missed cycles : 3).[0m ×2 + 22.77sWARNcontroller_serverParameter controller_server.verbose not found + 22.77sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 22.77sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 22.88sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 22.88sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 22.88sINFOsmoother_serverActivating + 22.88sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 22.98sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 22.98sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 22.98sINFOplanner_serverActivating + 22.98sINFOglobal_costmap.global_costmapActivating + 22.98sINFOglobal_costmap.global_costmapChecking transform + 22.98sINFOglobal_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 1786395479.856810 but the earliest data is at time 1786395480.279672, when looking up transform from frame [ridgeback_base_link] to frame [map] + 23.07sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 23.07sINFOcontroller_managerLoading controller 'vacuum_gripper' + 23.07sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 23.07sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 23.07sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 23.07sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 23.09sINFOros2-10process has finished cleanly [pid 9666] ×2 + 23.09sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 23.10sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.13sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.14sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.14sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.14sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.14sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.14sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.14sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.14sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.15sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.15sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 23.48sINFOglobal_costmap.global_costmapstart + 23.50sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 23.50sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 23.50sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 23.50sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 23.50sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 23.50sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 23.51sINFOros2-14process has finished cleanly [pid 9670] ×2 + 23.56sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 23.56sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 23.56sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 23.56sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 23.56sINFOplatform_velocity_controller_nav2configure successful + 23.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032242 ms (missed cycles : 2). + 23.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.032242 ms (missed cycles : 2).[0m ×2 + 23.92sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 23.92sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 23.92sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev + 23.92sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 23.92sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 23.92sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_u7f6bvk2 --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_1zet05dz --params-file /tmp/launch_params_5s8d41ev [0m ×2 + 23.93sINFOros2-15process has finished cleanly [pid 9671] ×2 + 23.99sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 23.99sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 23.99sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 23.99sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 24.36sINFOros2_control_node[2026-08-10 20:58:01.270] [info] Controller state will be published at 20 Hz. ×2 + 24.36sINFOros2_control_node[2026-08-10 20:58:01.272] [info] JointVelocityController 'on_configure' succeeded. ×2 + 24.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.53sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 24.54sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 24.64sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 24.64sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 24.64sINFObehavior_serverActivating + 24.64sINFObehavior_serverActivating spin + 24.64sINFObehavior_serverActivating backup + 24.64sINFObehavior_serverActivating drive_on_heading + 24.64sINFObehavior_serverActivating assisted_teleop + 24.64sINFObehavior_serverActivating wait + 24.64sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 24.71sINFOros2-20process has finished cleanly [pid 9676] ×2 + 24.74sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 24.74sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 24.74sINFObt_navigatorActivating + 24.80sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 24.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942063 ms (missed cycles : 2). + 24.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.942063 ms (missed cycles : 2).[0m ×2 + 24.91sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 24.91sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 24.91sINFOwaypoint_followerActivating + 24.91sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 25.02sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 25.02sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 25.02sINFOvelocity_smootherActivating + 25.02sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 25.12sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 25.12sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 25.12sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 25.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 25.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 26.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 26.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 27.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 28.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 29.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 29.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 29.67sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.68sINFOmove_groupClearing octomap...[0m ×2 + 29.68sINFOmove_groupOctomap cleared.[0m ×2 + 29.68sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 30.25sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.26sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 30.82sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 31.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 31.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 31.56sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.57sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.57sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 31.57sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.57sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 31.57sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.57sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.57sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.59sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.59sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 31.59sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 31.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.61sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.4s	3 errors · 241 warnings · 212 info
+ 0.00sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.586ms + 0.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292100 ms (missed cycles : 4). + 0.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292100 ms (missed cycles : 4).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 1.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120242 ms (missed cycles : 2). + 1.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120242 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 2.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717339 ms (missed cycles : 3). + 2.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717339 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350735 ms (missed cycles : 2). + 3.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350735 ms (missed cycles : 2).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms ×2 + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 4.20sINFOobjective_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 + 4.21sINFOjoint_trajectory_controllerGot request to cancel goal + 4.21sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.21sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.21sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.23sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786395695.53590345 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.819ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.196ms + 4.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634620 ms (missed cycles : 2). + 4.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634620 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786395696.09304976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.614ms + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.643ms + 5.19sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 5.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344916 ms (missed cycles : 3). + 5.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344916 ms (missed cycles : 3).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.988ms + 6.30sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 6.073ms + 6.60sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.929ms + 6.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836404 ms (missed cycles : 3). + 6.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836404 ms (missed cycles : 3).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.724ms + 7.01sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.06sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.06sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.06sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.07sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348752 ms (missed cycles : 3). + 7.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348752 ms (missed cycles : 3).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 1343 particles 723 points - 3.016ms + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.412ms + 8.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms ×2 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971663 ms (missed cycles : 2). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.971663 ms (missed cycles : 2).[0m ×2 + 10.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931469 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931469 ms (missed cycles : 2).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174233 ms (missed cycles : 4). + 11.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174233 ms (missed cycles : 4).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.355ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 12.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243753 ms (missed cycles : 2). + 12.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.243753 ms (missed cycles : 2).[0m ×2 + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.600ms + 13.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389574 ms (missed cycles : 3). + 13.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.389574 ms (missed cycles : 3).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662335 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662335 ms (missed cycles : 3).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157525 ms (missed cycles : 3). + 15.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.157525 ms (missed cycles : 3).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.380ms + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.543ms + 16.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373701 ms (missed cycles : 4). + 16.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373701 ms (missed cycles : 4).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 17.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705394 ms (missed cycles : 3). + 17.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705394 ms (missed cycles : 3).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 18.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408228 ms (missed cycles : 2). + 18.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.408228 ms (missed cycles : 2).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629362 ms (missed cycles : 2). + 19.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629362 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791386 ms (missed cycles : 3). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.791386 ms (missed cycles : 3).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 22.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841542 ms (missed cycles : 3). + 22.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841542 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 23.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982074 ms (missed cycles : 3). + 23.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.982074 ms (missed cycles : 3).[0m ×2 + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687253 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.687253 ms (missed cycles : 3).[0m ×2 + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.303ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 25.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697943 ms (missed cycles : 2). + 25.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697943 ms (missed cycles : 2).[0m ×2 + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719370 ms (missed cycles : 4). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.719370 ms (missed cycles : 4).[0m ×2 + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355915 ms (missed cycles : 4). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.355915 ms (missed cycles : 4).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740159 ms (missed cycles : 4). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.740159 ms (missed cycles : 4).[0m ×2 + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327909 ms (missed cycles : 3). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327909 ms (missed cycles : 3).[0m ×2 + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms ×2 + 30.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266707 ms (missed cycles : 2). + 30.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266707 ms (missed cycles : 2).[0m ×2 + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.476ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187309 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187309 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 32.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196515 ms (missed cycles : 2). + 32.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.196515 ms (missed cycles : 2).[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 33.51sINFOros2_control_nodeMuJoCo sim: 1.97% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819558 ms (missed cycles : 3). + 33.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819558 ms (missed cycles : 3).[0m ×2 + 34.29sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.29sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714034 ms (missed cycles : 3). + 34.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714034 ms (missed cycles : 3).[0m ×2 + 34.70sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.56sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.56sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 35.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999202 ms (missed cycles : 5). + 35.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.999202 ms (missed cycles : 5).[0m ×2 + 36.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154222 ms (missed cycles : 5). + 36.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.154222 ms (missed cycles : 5).[0m ×2 + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553132 ms (missed cycles : 3). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.553132 ms (missed cycles : 3).[0m ×2 + 38.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 38.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337279 ms (missed cycles : 4). + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 38.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337279 ms (missed cycles : 4).[0m ×2 + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms ×2 + 39.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653017 ms (missed cycles : 3). + 39.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653017 ms (missed cycles : 3).[0m ×2 + 40.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.601ms + 40.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615031 ms (missed cycles : 4). + 40.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615031 ms (missed cycles : 4).[0m ×2 + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 41.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908159 ms (missed cycles : 4). + 41.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.908159 ms (missed cycles : 4).[0m ×2 + 42.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.426ms + 42.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570048 ms (missed cycles : 2). + 42.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570048 ms (missed cycles : 2).[0m ×2 + 44.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905008 ms (missed cycles : 2). + 44.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.905008 ms (missed cycles : 2).[0m ×2 + 45.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104359 ms (missed cycles : 2). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.104359 ms (missed cycles : 2).[0m ×2 + 46.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450397 ms (missed cycles : 4). + 46.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.450397 ms (missed cycles : 4).[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.521ms + 47.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729276 ms (missed cycles : 3). + 47.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.729276 ms (missed cycles : 3).[0m ×2 + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714909 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714909 ms (missed cycles : 3).[0m ×2 + 48.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.582ms + 49.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068703 ms (missed cycles : 4). + 49.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.068703 ms (missed cycles : 4).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 50.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810282 ms (missed cycles : 2). + 50.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810282 ms (missed cycles : 2).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.449ms + 51.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694024 ms (missed cycles : 3). + 51.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.694024 ms (missed cycles : 3).[0m ×2 + 52.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 52.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696557 ms (missed cycles : 4). + 52.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696557 ms (missed cycles : 4).[0m ×2 + 53.04sINFOobjective_server_nodePlanning for 43 path waypoints. ×3 + 53.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634633 ms (missed cycles : 3). + 53.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.634633 ms (missed cycles : 3).[0m ×2 + 54.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189443 ms (missed cycles : 2). + 54.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189443 ms (missed cycles : 2).[0m ×2 + 55.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563825 ms (missed cycles : 3). + 55.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.563825 ms (missed cycles : 3).[0m ×2 + 56.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989965 ms (missed cycles : 3). + 56.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989965 ms (missed cycles : 3).[0m ×2 + 57.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802613 ms (missed cycles : 2). + 57.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.802613 ms (missed cycles : 2).[0m ×2 + 58.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526363 ms (missed cycles : 4). + 58.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.526363 ms (missed cycles : 4).[0m ×2 + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 59.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464522 ms (missed cycles : 3). + 59.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464522 ms (missed cycles : 3).[0m ×2 + 60.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884685 ms (missed cycles : 2). + 60.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.884685 ms (missed cycles : 2).[0m ×2 + 61.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 61.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309146 ms (missed cycles : 4). + 61.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.309146 ms (missed cycles : 4).[0m ×2 + 62.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 63.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173600 ms (missed cycles : 4). + 63.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.173600 ms (missed cycles : 4).[0m ×2 + 64.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 64.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366659 ms (missed cycles : 3). + 64.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366659 ms (missed cycles : 3).[0m ×2 + 65.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672914 ms (missed cycles : 2). + 65.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.672914 ms (missed cycles : 2).[0m ×2 + 65.45sINFOobjective_server_nodePlanning for 30 path waypoints. ×3 + 66.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201497 ms (missed cycles : 4). + 66.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201497 ms (missed cycles : 4).[0m ×2 + 66.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 67.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337904 ms (missed cycles : 4). + 67.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.337904 ms (missed cycles : 4).[0m ×2 + 68.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100840 ms (missed cycles : 2). + 68.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.100840 ms (missed cycles : 2).[0m ×2 + 69.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460664 ms (missed cycles : 3). + 69.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.460664 ms (missed cycles : 3).[0m ×2 + 69.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 70.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.304ms + 70.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534830 ms (missed cycles : 4). + 70.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.534830 ms (missed cycles : 4).[0m ×2 + 71.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 71.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794937 ms (missed cycles : 3). + 71.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.794937 ms (missed cycles : 3).[0m ×2 + 72.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 72.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549276 ms (missed cycles : 4). + 72.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.549276 ms (missed cycles : 4).[0m ×2 + 72.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.441ms + 73.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464393 ms (missed cycles : 3). + 73.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464393 ms (missed cycles : 3).[0m ×2 + 74.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 74.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414989 ms (missed cycles : 4). + 74.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414989 ms (missed cycles : 4).[0m ×2 + 75.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 75.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685086 ms (missed cycles : 4). + 75.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685086 ms (missed cycles : 4).[0m ×2 + 75.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 76.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 76.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419753 ms (missed cycles : 4). + 76.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419753 ms (missed cycles : 4).[0m ×2 + 77.59sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786395768.89322138 seconds ×3 + 77.68sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 12.67) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. ×2 + 77.68sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 12.32) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. ×2 + 77.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 77.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.774ms + 78.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842192 ms (missed cycles : 3). + 78.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842192 ms (missed cycles : 3).[0m ×2 + 78.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 78.15sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786395769.45565414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 78.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 79.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 79.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 79.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 80.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 80.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.6s	188 warnings · 165 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786395532.02648854 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786395532.58764935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.0691e-05 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.72sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.72sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.72sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.72sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124306 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124306 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786395535.82779598 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786395536.38320923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761236 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761236 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863976 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863976 ms (missed cycles : 2).[0m ×2 + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083413 ms (missed cycles : 2). + 6.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.083413 ms (missed cycles : 2).[0m ×2 + 7.09sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819886 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819886 ms (missed cycles : 3).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787051 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787051 ms (missed cycles : 2).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 2.114ms + 9.70sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.755ms + 9.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016996 ms (missed cycles : 2). + 9.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016996 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.657ms + 10.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 10.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353933 ms (missed cycles : 3). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353933 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.400ms + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424678 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424678 ms (missed cycles : 3).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.548ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 12.80sINFOros2_control_nodeMuJoCo sim: 0.16% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491287 ms (missed cycles : 3). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491287 ms (missed cycles : 3).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.997ms ×2 + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460098 ms (missed cycles : 3). + 14.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.460098 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 15.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322036 ms (missed cycles : 2). + 15.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322036 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 16.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097694 ms (missed cycles : 3). + 16.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.097694 ms (missed cycles : 3).[0m ×2 + 16.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 16.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.021ms + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456259 ms (missed cycles : 3). + 17.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456259 ms (missed cycles : 3).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 17.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 18.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268195 ms (missed cycles : 4). + 18.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.268195 ms (missed cycles : 4).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 19.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172544 ms (missed cycles : 5). + 19.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.172544 ms (missed cycles : 5).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 20.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975458 ms (missed cycles : 3). + 20.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.975458 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 21.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212591 ms (missed cycles : 2). + 21.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.212591 ms (missed cycles : 2).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 22.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.658ms + 22.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817180 ms (missed cycles : 2). + 22.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817180 ms (missed cycles : 2).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 23.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777077 ms (missed cycles : 3). + 23.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777077 ms (missed cycles : 3).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 24.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683893 ms (missed cycles : 2). + 24.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.683893 ms (missed cycles : 2).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.486ms + 25.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.491ms + 25.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094260 ms (missed cycles : 4). + 25.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.094260 ms (missed cycles : 4).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621176 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.621176 ms (missed cycles : 2).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845082 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845082 ms (missed cycles : 3).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 28.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467995 ms (missed cycles : 3). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467995 ms (missed cycles : 3).[0m ×2 + 29.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 29.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 29.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746577 ms (missed cycles : 2). + 29.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.746577 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.514ms + 30.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287762 ms (missed cycles : 3). + 30.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.287762 ms (missed cycles : 3).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 32.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753856 ms (missed cycles : 2). + 32.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.753856 ms (missed cycles : 2).[0m ×2 + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.135ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864245 ms (missed cycles : 4). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.864245 ms (missed cycles : 4).[0m ×2 + 33.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.513ms + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 34.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224047 ms (missed cycles : 4). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.224047 ms (missed cycles : 4).[0m ×2 + 34.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 35.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477488 ms (missed cycles : 3). + 35.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.477488 ms (missed cycles : 3).[0m ×2 + 35.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.86sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501327 ms (missed cycles : 4). + 36.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.501327 ms (missed cycles : 4).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162259 ms (missed cycles : 4). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.162259 ms (missed cycles : 4).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793517 ms (missed cycles : 2). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.793517 ms (missed cycles : 2).[0m ×2 + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539790 ms (missed cycles : 3). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539790 ms (missed cycles : 3).[0m ×2 + 40.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134616 ms (missed cycles : 5). + 40.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.134616 ms (missed cycles : 5).[0m ×2 + 41.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205851 ms (missed cycles : 2). + 41.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205851 ms (missed cycles : 2).[0m ×2 + 41.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.158ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635806 ms (missed cycles : 2). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.635806 ms (missed cycles : 2).[0m ×2 + 43.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 43.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312030 ms (missed cycles : 2). + 43.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.312030 ms (missed cycles : 2).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528173 ms (missed cycles : 3). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.528173 ms (missed cycles : 3).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 46.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469192 ms (missed cycles : 4). + 46.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.469192 ms (missed cycles : 4).[0m ×2 + 47.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673781 ms (missed cycles : 2). + 47.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673781 ms (missed cycles : 2).[0m ×2 + 48.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993929 ms (missed cycles : 3). + 48.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.993929 ms (missed cycles : 3).[0m ×2 + 49.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080207 ms (missed cycles : 3). + 49.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.080207 ms (missed cycles : 3).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.215ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496432 ms (missed cycles : 3). + 50.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.496432 ms (missed cycles : 3).[0m ×2 + 51.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709502 ms (missed cycles : 4). + 51.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.709502 ms (missed cycles : 4).[0m ×2 + 52.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630447 ms (missed cycles : 5). + 52.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.630447 ms (missed cycles : 5).[0m ×2 + 52.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.351ms + 53.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604042 ms (missed cycles : 3). + 53.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.604042 ms (missed cycles : 3).[0m ×2 + 54.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507647 ms (missed cycles : 4). + 54.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.507647 ms (missed cycles : 4).[0m ×2 + 55.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981953 ms (missed cycles : 3). + 55.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.981953 ms (missed cycles : 3).[0m ×2 + 56.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 56.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639892 ms (missed cycles : 4). + 56.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.639892 ms (missed cycles : 4).[0m ×2 + 57.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 57.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 58.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 58.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 59.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 59.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 60.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 60.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 61.46sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 61.57sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.57sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 61.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 61.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 61.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 62.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 62.03sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 62.40sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 62.43sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 62.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 64.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 64.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 64.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.3s	189 warnings · 150 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.40sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.40sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.22sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2 + 7.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511376 ms (missed cycles : 3). + 7.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.511376 ms (missed cycles : 3).[0m ×2 + 7.46sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489962 ms (missed cycles : 3). + 8.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.489962 ms (missed cycles : 3).[0m ×2 + 9.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074568 ms (missed cycles : 4). + 9.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.074568 ms (missed cycles : 4).[0m ×2 + 9.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.118ms + 10.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.614ms + 10.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111335 ms (missed cycles : 2). + 10.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.111335 ms (missed cycles : 2).[0m ×2 + 10.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.696ms + 11.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.565ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667478 ms (missed cycles : 3). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.667478 ms (missed cycles : 3).[0m ×2 + 11.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.222ms + 12.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.933ms + 12.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.644ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431093 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.431093 ms (missed cycles : 3).[0m ×2 + 13.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.986ms + 13.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.192ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217994 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.217994 ms (missed cycles : 2).[0m ×2 + 14.27sINFOamclParticle filter update iteration stats: 4735 particles 723 points - 6.649ms + 14.77sINFOamclParticle filter update iteration stats: 3907 particles 723 points - 6.048ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399342 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399342 ms (missed cycles : 3).[0m ×2 + 15.27sINFOamclParticle filter update iteration stats: 3180 particles 723 points - 4.815ms + 15.28sINFOros2_control_nodeMuJoCo sim: 3.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.76sINFOamclParticle filter update iteration stats: 2638 particles 723 points - 3.967ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895984 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.895984 ms (missed cycles : 3).[0m ×2 + 16.26sINFOamclParticle filter update iteration stats: 2334 particles 723 points - 3.403ms + 16.76sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.103ms + 17.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219980 ms (missed cycles : 2). + 17.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.219980 ms (missed cycles : 2).[0m ×2 + 17.26sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.970ms + 17.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 18.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582240 ms (missed cycles : 3). + 18.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.582240 ms (missed cycles : 3).[0m ×2 + 18.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.593ms + 18.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 19.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970923 ms (missed cycles : 2). + 19.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.970923 ms (missed cycles : 2).[0m ×2 + 19.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms ×2 + 19.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 20.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628782 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.628782 ms (missed cycles : 3).[0m ×2 + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 20.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231665 ms (missed cycles : 3). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231665 ms (missed cycles : 3).[0m ×2 + 21.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 21.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 22.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146927 ms (missed cycles : 4). + 22.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.146927 ms (missed cycles : 4).[0m ×2 + 22.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.216ms + 22.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 23.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164536 ms (missed cycles : 3). + 23.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.164536 ms (missed cycles : 3).[0m ×2 + 23.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.148ms + 23.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 24.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870524 ms (missed cycles : 3). + 24.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.553ms + 24.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870524 ms (missed cycles : 3).[0m ×2 + 24.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 25.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.436ms + 25.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284909 ms (missed cycles : 4). + 25.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.284909 ms (missed cycles : 4).[0m ×2 + 25.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.406ms + 26.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 26.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992787 ms (missed cycles : 3). + 26.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992787 ms (missed cycles : 3).[0m ×2 + 26.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.311ms + 27.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 27.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992287 ms (missed cycles : 3). + 27.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.992287 ms (missed cycles : 3).[0m ×2 + 27.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.428ms + 28.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 28.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821024 ms (missed cycles : 2). + 28.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.821024 ms (missed cycles : 2).[0m ×2 + 28.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 29.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms ×2 + 29.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926628 ms (missed cycles : 2). + 29.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926628 ms (missed cycles : 2).[0m ×2 + 30.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.574ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991723 ms (missed cycles : 3). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991723 ms (missed cycles : 3).[0m ×2 + 30.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020739 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020739 ms (missed cycles : 2).[0m ×2 + 31.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.671ms + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.199ms + 32.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798949 ms (missed cycles : 2). + 32.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.798949 ms (missed cycles : 2).[0m ×2 + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 33.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.731ms + 33.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365539 ms (missed cycles : 4). + 33.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.365539 ms (missed cycles : 4).[0m ×2 + 33.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 34.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 34.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581197 ms (missed cycles : 2). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.581197 ms (missed cycles : 2).[0m ×2 + 35.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792944 ms (missed cycles : 2). + 35.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792944 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 + 36.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.310ms + 36.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952972 ms (missed cycles : 5). + 36.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.952972 ms (missed cycles : 5).[0m ×2 + 37.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402391 ms (missed cycles : 3). + 37.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.402391 ms (missed cycles : 3).[0m ×2 + 39.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423753 ms (missed cycles : 4). + 39.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.423753 ms (missed cycles : 4).[0m ×2 + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673847 ms (missed cycles : 3). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.673847 ms (missed cycles : 3).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345169 ms (missed cycles : 4). + 41.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.345169 ms (missed cycles : 4).[0m ×2 + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589013 ms (missed cycles : 4). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.589013 ms (missed cycles : 4).[0m ×2 + 42.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.482ms + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765399 ms (missed cycles : 3). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765399 ms (missed cycles : 3).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883239 ms (missed cycles : 5). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.883239 ms (missed cycles : 5).[0m ×2 + 45.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628407 ms (missed cycles : 3). + 45.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.628407 ms (missed cycles : 3).[0m ×2 + 46.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138001 ms (missed cycles : 2). + 46.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.138001 ms (missed cycles : 2).[0m ×2 + 47.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857889 ms (missed cycles : 3). + 47.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.857889 ms (missed cycles : 3).[0m ×2 + 48.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334070 ms (missed cycles : 4). + 48.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.334070 ms (missed cycles : 4).[0m ×2 + 49.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115635 ms (missed cycles : 4). + 49.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115635 ms (missed cycles : 4).[0m ×2 + 50.36sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 50.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414145 ms (missed cycles : 3). + 50.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414145 ms (missed cycles : 3).[0m ×2 + 51.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810021 ms (missed cycles : 2). + 51.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.810021 ms (missed cycles : 2).[0m ×2 + 52.31sWARNros2_control_nodeCamera render tick took 0.65 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 + 52.33sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.68 s); wrist_camera (0.68 s). Behaviors waiting on those points topics will time out.[0m ×2 + 52.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073502 ms (missed cycles : 4). + 52.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.073502 ms (missed cycles : 4).[0m ×2 + 52.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 53.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116499 ms (missed cycles : 2). + 53.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116499 ms (missed cycles : 2).[0m ×2 + 54.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345760 ms (missed cycles : 3). + 54.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.345760 ms (missed cycles : 3).[0m ×2 + 55.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494352 ms (missed cycles : 3). + 55.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.494352 ms (missed cycles : 3).[0m ×2 + 56.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292477 ms (missed cycles : 2). + 56.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.292477 ms (missed cycles : 2).[0m ×2 + 57.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 58.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532794 ms (missed cycles : 5). + 58.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532794 ms (missed cycles : 5).[0m ×2 + 59.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801818 ms (missed cycles : 3). + 59.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801818 ms (missed cycles : 3).[0m ×2 + 60.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459225 ms (missed cycles : 3). + 60.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459225 ms (missed cycles : 3).[0m ×2 + 60.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 61.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564594 ms (missed cycles : 4). + 61.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564594 ms (missed cycles : 4).[0m ×2 + 61.61sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786395831.14617491 seconds ×3 + 61.74sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.51) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.74sWARNlocal_costmap.local_costmapSensor origin at (-2.46, 7.52) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.669ms + 61.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 62.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.677ms + 62.18sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786395831.72025657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103553 ms (missed cycles : 3). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103553 ms (missed cycles : 3).[0m ×2 + 62.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.642ms + 62.54sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 62.57sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620024 ms (missed cycles : 3). + 63.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620024 ms (missed cycles : 3).[0m ×2 + 64.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.2s	178 warnings · 166 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.18sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786395630.52802801 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.846ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786395631.08877206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.887ms + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.997ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.627ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.805ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.546ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.487ms + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3).[0m ×2 + 7.08sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.908ms + 7.13sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.13sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.13sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.13sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.742ms + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792184 ms (missed cycles : 2). + 7.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.792184 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.888ms + 8.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.504ms + 8.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.625ms + 8.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970679 ms (missed cycles : 3). + 8.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970679 ms (missed cycles : 3).[0m ×2 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747680 ms (missed cycles : 3). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.747680 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 4766 particles 723 points - 9.356ms + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710012 ms (missed cycles : 3). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.710012 ms (missed cycles : 3).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 4177 particles 723 points - 5.621ms + 11.60sINFOamclParticle filter update iteration stats: 3471 particles 723 points - 5.072ms + 12.10sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 4.502ms + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495198 ms (missed cycles : 4). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.495198 ms (missed cycles : 4).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 2397 particles 723 points - 4.259ms + 13.10sINFOamclParticle filter update iteration stats: 1998 particles 723 points - 3.389ms + 13.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359967 ms (missed cycles : 3). + 13.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.359967 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1661 particles 723 points - 2.088ms + 14.10sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 2.183ms + 14.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744082 ms (missed cycles : 3). + 14.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.744082 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.396ms + 15.09sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.744ms + 15.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823532 ms (missed cycles : 3). + 15.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.823532 ms (missed cycles : 3).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.536ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451188 ms (missed cycles : 4). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.451188 ms (missed cycles : 4).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663912 ms (missed cycles : 3). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.663912 ms (missed cycles : 3).[0m ×2 + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 18.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681962 ms (missed cycles : 2). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681962 ms (missed cycles : 2).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 19.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898874 ms (missed cycles : 3). + 19.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.898874 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 20.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224307 ms (missed cycles : 3). + 20.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.224307 ms (missed cycles : 3).[0m ×2 + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724779 ms (missed cycles : 3). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.724779 ms (missed cycles : 3).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110644 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110644 ms (missed cycles : 2).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.302ms + 24.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570963 ms (missed cycles : 3). + 24.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.570963 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 25.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190950 ms (missed cycles : 2). + 25.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.190950 ms (missed cycles : 2).[0m ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.118ms + 26.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257493 ms (missed cycles : 2). + 26.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257493 ms (missed cycles : 2).[0m ×2 + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 27.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423043 ms (missed cycles : 3). + 27.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.423043 ms (missed cycles : 3).[0m ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 28.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996995 ms (missed cycles : 3). + 28.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.996995 ms (missed cycles : 3).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.905ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 29.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525177 ms (missed cycles : 3). + 29.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525177 ms (missed cycles : 3).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.268ms + 30.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581321 ms (missed cycles : 3). + 30.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.581321 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 31.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141440 ms (missed cycles : 5). + 31.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.141440 ms (missed cycles : 5).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.100ms + 32.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 32.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076858 ms (missed cycles : 4). + 32.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.076858 ms (missed cycles : 4).[0m ×2 + 33.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129288 ms (missed cycles : 4). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129288 ms (missed cycles : 4).[0m ×2 + 35.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960391 ms (missed cycles : 2). + 35.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.960391 ms (missed cycles : 2).[0m ×2 + 35.79sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792442 ms (missed cycles : 2). + 36.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792442 ms (missed cycles : 2).[0m ×2 + 36.57sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.57sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 37.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102594 ms (missed cycles : 2). + 37.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.102594 ms (missed cycles : 2).[0m ×2 + 38.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413530 ms (missed cycles : 4). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.413530 ms (missed cycles : 4).[0m ×2 + 38.51sINFOros2_control_nodeMuJoCo sim: 1.31% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 39.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716363 ms (missed cycles : 3). + 39.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.716363 ms (missed cycles : 3).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 40.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.592ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973577 ms (missed cycles : 3). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.973577 ms (missed cycles : 3).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.879ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 41.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267483 ms (missed cycles : 2). + 41.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.267483 ms (missed cycles : 2).[0m ×2 + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.842ms + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.379ms + 42.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507322 ms (missed cycles : 3). + 42.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507322 ms (missed cycles : 3).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318143 ms (missed cycles : 4). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.318143 ms (missed cycles : 4).[0m ×2 + 44.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619068 ms (missed cycles : 3). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619068 ms (missed cycles : 3).[0m ×2 + 45.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 45.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369423 ms (missed cycles : 4). + 45.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.369423 ms (missed cycles : 4).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.322ms + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 46.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009649 ms (missed cycles : 4). + 46.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.009649 ms (missed cycles : 4).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 47.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014194 ms (missed cycles : 4). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.014194 ms (missed cycles : 4).[0m ×2 + 48.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949820 ms (missed cycles : 2). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.949820 ms (missed cycles : 2).[0m ×2 + 49.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581800 ms (missed cycles : 4). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.581800 ms (missed cycles : 4).[0m ×2 + 50.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 50.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681552 ms (missed cycles : 2). + 50.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.681552 ms (missed cycles : 2).[0m ×2 + 51.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.157ms + 52.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016434 ms (missed cycles : 3). + 52.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.016434 ms (missed cycles : 3).[0m ×2 + 52.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 53.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193440 ms (missed cycles : 4). + 53.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.193440 ms (missed cycles : 4).[0m ×2 + 53.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 54.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842042 ms (missed cycles : 3). + 54.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842042 ms (missed cycles : 3).[0m ×2 + 54.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 55.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931522 ms (missed cycles : 3). + 55.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931522 ms (missed cycles : 3).[0m ×2 + 55.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 56.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304240 ms (missed cycles : 3). + 56.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304240 ms (missed cycles : 3).[0m ×2 + 57.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 57.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902966 ms (missed cycles : 2). + 57.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902966 ms (missed cycles : 2).[0m ×2 + 58.48sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786395684.77891684 seconds ×3 + 58.58sWARNlocal_costmap.local_costmapSensor origin at (-0.86, 5.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.58sWARNlocal_costmap.local_costmapSensor origin at (-1.70, 6.25) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808257 ms (missed cycles : 2). + 58.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808257 ms (missed cycles : 2).[0m ×2 + 58.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.422ms + 58.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.905ms + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 59.04sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786395685.33772469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.412ms + 59.49sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.850ms + 59.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468545 ms (missed cycles : 3). + 59.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468545 ms (missed cycles : 3).[0m ×2 + 59.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.390ms + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.724ms + 60.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.609ms + 60.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967276 ms (missed cycles : 4). + 60.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967276 ms (missed cycles : 4).[0m ×2 + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.664ms + 61.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.722ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	141 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.69sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.69sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 5.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.67sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.67sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218370 ms (missed cycles : 2). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.218370 ms (missed cycles : 2).[0m ×2 + 7.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699185 ms (missed cycles : 2). + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699185 ms (missed cycles : 2).[0m ×2 + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215992 ms (missed cycles : 2). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.215992 ms (missed cycles : 2).[0m ×2 + 10.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217573 ms (missed cycles : 3). + 10.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217573 ms (missed cycles : 3).[0m ×2 + 11.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937677 ms (missed cycles : 3). + 11.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.937677 ms (missed cycles : 3).[0m ×2 + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872833 ms (missed cycles : 2). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.872833 ms (missed cycles : 2).[0m ×2 + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712102 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.712102 ms (missed cycles : 3).[0m ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543734 ms (missed cycles : 3). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.543734 ms (missed cycles : 3).[0m ×2 + 16.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173568 ms (missed cycles : 3). + 16.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173568 ms (missed cycles : 3).[0m ×2 + 17.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523706 ms (missed cycles : 2). + 17.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.523706 ms (missed cycles : 2).[0m ×2 + 18.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366877 ms (missed cycles : 3). + 18.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.366877 ms (missed cycles : 3).[0m ×2 + 19.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686468 ms (missed cycles : 2). + 19.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686468 ms (missed cycles : 2).[0m ×2 + 20.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527588 ms (missed cycles : 4). + 20.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.527588 ms (missed cycles : 4).[0m ×2 + 20.39sINFOamclParticle filter update iteration stats: 2051 particles 723 points - 3.401ms + 21.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115124 ms (missed cycles : 2). + 21.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.115124 ms (missed cycles : 2).[0m ×2 + 22.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545262 ms (missed cycles : 4). + 22.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.545262 ms (missed cycles : 4).[0m ×2 + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3). + 23.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.001668 ms (missed cycles : 3).[0m ×2 + 24.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616084 ms (missed cycles : 3). + 24.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.616084 ms (missed cycles : 3).[0m ×2 + 25.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835735 ms (missed cycles : 2). + 25.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835735 ms (missed cycles : 2).[0m ×2 + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766261 ms (missed cycles : 2). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.766261 ms (missed cycles : 2).[0m ×2 + 27.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673868 ms (missed cycles : 2). + 27.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.673868 ms (missed cycles : 2).[0m ×2 + 28.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569512 ms (missed cycles : 3). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569512 ms (missed cycles : 3).[0m ×2 + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266654 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.266654 ms (missed cycles : 2).[0m ×2 + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349033 ms (missed cycles : 3). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349033 ms (missed cycles : 3).[0m ×2 + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739120 ms (missed cycles : 2). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739120 ms (missed cycles : 2).[0m ×2 + 33.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542705 ms (missed cycles : 3). + 33.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.542705 ms (missed cycles : 3).[0m ×2 + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237961 ms (missed cycles : 2). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.237961 ms (missed cycles : 2).[0m ×2 + 35.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459975 ms (missed cycles : 3). + 35.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.459975 ms (missed cycles : 3).[0m ×2 + 36.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174726 ms (missed cycles : 4). + 36.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.174726 ms (missed cycles : 4).[0m ×2 + 37.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722496 ms (missed cycles : 5). + 37.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.722496 ms (missed cycles : 5).[0m ×2 + 38.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089704 ms (missed cycles : 2). + 38.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.089704 ms (missed cycles : 2).[0m ×2 + 39.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993476 ms (missed cycles : 2). + 39.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.993476 ms (missed cycles : 2).[0m ×2 + 40.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204705 ms (missed cycles : 2). + 40.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.204705 ms (missed cycles : 2).[0m ×2 + 41.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491396 ms (missed cycles : 3). + 41.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491396 ms (missed cycles : 3).[0m ×2 + 43.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3). + 43.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3).[0m ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3).[0m ×2 + 46.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2). + 46.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2).[0m ×2 + 47.20sINFOjoint_trajectory_controllerGoal reached, success! + 47.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786395532.02648854 seconds ×3 + 47.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3). + 47.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3).[0m ×2 + 47.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786395532.58764935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3). + 48.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3).[0m ×2 + 48.89sINFOobjective_server_nodeFound path in 0 iterations (4.0691e-05 s). ×2 + 48.90sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.91sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2). + 49.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	110 warnings · 113 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 1.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307648 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307648 ms (missed cycles : 2).[0m ×2 + 2.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.791ms + 3.12sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.12sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.14sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786395598.10254145 seconds ×3 + 3.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075522 ms (missed cycles : 2). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075522 ms (missed cycles : 2).[0m ×2 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729518 ms (missed cycles : 2). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729518 ms (missed cycles : 2).[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786395599.66653585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.73sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.18sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925076 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925076 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045229 ms (missed cycles : 2). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045229 ms (missed cycles : 2).[0m ×2 + 7.10sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.15sINFOjoint_trajectory_controllerReceived new action goal + 7.15sINFOjoint_trajectory_controllerAccepted new action goal + 7.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418461 ms (missed cycles : 2). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.418461 ms (missed cycles : 2).[0m ×2 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644236 ms (missed cycles : 2). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.644236 ms (missed cycles : 2).[0m ×2 + 9.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.835ms + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300088 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.300088 ms (missed cycles : 3).[0m ×2 + 9.84sINFOros2_control_nodeMuJoCo sim: 1.30% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.134ms + 10.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379078 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.379078 ms (missed cycles : 3).[0m ×2 + 10.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.923ms + 11.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.899ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371103 ms (missed cycles : 4). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.371103 ms (missed cycles : 4).[0m ×2 + 11.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.799ms + 12.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.890ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643574 ms (missed cycles : 2). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643574 ms (missed cycles : 2).[0m ×2 + 12.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.368ms + 13.34sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 4.910ms + 13.84sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 5.001ms + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180569 ms (missed cycles : 3). + 14.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.180569 ms (missed cycles : 3).[0m ×2 + 14.34sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.744ms + 14.84sINFOamclParticle filter update iteration stats: 1491 particles 723 points - 2.075ms + 15.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414909 ms (missed cycles : 3). + 15.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.414909 ms (missed cycles : 3).[0m ×2 + 15.34sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.894ms + 15.84sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.397ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407526 ms (missed cycles : 3). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407526 ms (missed cycles : 3).[0m ×2 + 16.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 16.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.410ms + 17.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776595 ms (missed cycles : 2). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776595 ms (missed cycles : 2).[0m ×2 + 17.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 18.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 18.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147866 ms (missed cycles : 4). + 18.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.147866 ms (missed cycles : 4).[0m ×2 + 18.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 19.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941633 ms (missed cycles : 2). + 19.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.941633 ms (missed cycles : 2).[0m ×2 + 19.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.112ms + 20.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 20.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408175 ms (missed cycles : 3). + 20.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.408175 ms (missed cycles : 3).[0m ×2 + 20.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 21.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 21.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607316 ms (missed cycles : 2). + 21.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.607316 ms (missed cycles : 2).[0m ×2 + 21.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 22.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 22.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.278ms + 22.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621575 ms (missed cycles : 3). + 22.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.621575 ms (missed cycles : 3).[0m ×2 + 23.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 23.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 23.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079982 ms (missed cycles : 3). + 23.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.079982 ms (missed cycles : 3).[0m ×2 + 24.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 24.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 25.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234147 ms (missed cycles : 2). + 25.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234147 ms (missed cycles : 2).[0m ×2 + 25.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 25.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.421ms + 26.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292885 ms (missed cycles : 2). + 26.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292885 ms (missed cycles : 2).[0m ×2 + 26.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 26.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859486 ms (missed cycles : 3). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.859486 ms (missed cycles : 3).[0m ×2 + 27.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 27.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 28.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.853ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833551 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.833551 ms (missed cycles : 2).[0m ×2 + 28.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.123ms + 29.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.826ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900264 ms (missed cycles : 2). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.900264 ms (missed cycles : 2).[0m ×2 + 29.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 30.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 30.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465824 ms (missed cycles : 3). + 30.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.465824 ms (missed cycles : 3).[0m ×2 + 30.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 31.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2). + 31.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2).[0m ×2 + 31.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 32.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 32.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3). + 32.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3).[0m ×2 + 32.84sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 33.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3).[0m ×2 + 34.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 34.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3). + 34.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3).[0m ×2 + 35.57sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786395630.52802801 seconds ×3 + 35.62sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.62sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.846ms + 35.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4). + 35.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4).[0m ×2 + 36.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 36.13sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786395631.08877206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.887ms + 36.60sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 36.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.997ms + 36.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 37.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2). + 37.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2).[0m ×2 + 37.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.627ms + 37.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.805ms + 37.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.546ms + 38.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.487ms + 38.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3). + 38.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.9s	59 warnings · 135 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532794 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.532794 ms (missed cycles : 5).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801818 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801818 ms (missed cycles : 3).[0m ×2 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459225 ms (missed cycles : 3). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459225 ms (missed cycles : 3).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564594 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.564594 ms (missed cycles : 4).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.54sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.57sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786395831.14617491 seconds ×3 + 3.58sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.59sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-1.57, 7.51) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.46, 7.52) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.669ms + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.998ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.677ms + 4.14sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786395831.72025657 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.17sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103553 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.103553 ms (missed cycles : 3).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.642ms + 4.51sINFOobjective_server_nodeFound path in 0 iterations (3.83e-07 s). ×2 + 4.53sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.55sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.55sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.55sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.55sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620024 ms (missed cycles : 3). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620024 ms (missed cycles : 3).[0m ×2 + 6.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.760ms + 6.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386703 ms (missed cycles : 3). + 6.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386703 ms (missed cycles : 3).[0m ×2 + 7.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.886ms + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105724 ms (missed cycles : 3). + 7.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.105724 ms (missed cycles : 3).[0m ×2 + 8.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546447 ms (missed cycles : 4). + 8.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.546447 ms (missed cycles : 4).[0m ×2 + 8.84sINFOobjective_server_nodeFound path in 0 iterations (3.23e-07 s). ×2 + 8.88sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.91sINFOobjective_server_nodeFound path in 0 iterations (3.74e-07 s). ×2 + 8.98sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.02sINFOobjective_server_nodeFound path in 0 iterations (5.04e-07 s). ×2 + 9.12sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.17sINFOobjective_server_nodeFound path in 0 iterations (3.4e-07 s). ×2 + 9.39sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.45sINFOobjective_server_nodeFound path in 0 iterations (3.78e-07 s). ×2 + 9.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228314 ms (missed cycles : 2). + 9.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.228314 ms (missed cycles : 2).[0m ×2 + 9.69sINFOobjective_server_nodeFound path in 31 iterations (0.0387309 s). ×2 + 10.11sINFOobjective_server_nodePath shortcutter: [X_____________________________________________________________________________X______X] ×2 + 10.19sINFOobjective_server_nodeFound path in 0 iterations (6.04e-07 s). ×2 + 10.66sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025080 ms (missed cycles : 4). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.025080 ms (missed cycles : 4).[0m ×2 + 10.71sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.20sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.50sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047396 ms (missed cycles : 3). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047396 ms (missed cycles : 3).[0m ×2 + 12.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610698 ms (missed cycles : 3). + 12.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.610698 ms (missed cycles : 3).[0m ×2 + 13.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.692ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055050 ms (missed cycles : 3). + 13.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055050 ms (missed cycles : 3).[0m ×2 + 13.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.706ms + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.131ms + 15.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2). + 15.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 15.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.132ms + 16.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3). + 16.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3).[0m ×2 + 16.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.346ms + 17.25sINFOros2_control_nodeMuJoCo sim: 3.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 17.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3). + 17.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3).[0m ×2 + 17.50sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786395845.07362628 seconds ×3 + 17.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 18.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.791ms + 18.09sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395845.66670394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.09sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.09sINFOmove_groupClearing octomap...[0m ×2 + 18.09sINFOmove_groupOctomap cleared.[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.940ms + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3).[0m ×2 + 18.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.570ms + 18.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395846.28684092 seconds ×3 + 18.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.743ms + 19.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.170ms + 19.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395846.84384727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4). + 19.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4).[0m ×2 + 19.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.206ms + 19.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 19.95sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395847.52399063 seconds ×3 + 20.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.474ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.6s	100 errors · 33 warnings · 400 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.131ms + 0.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2). + 0.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.132ms + 1.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3). + 1.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3).[0m ×2 + 2.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.346ms + 2.71sINFOros2_control_nodeMuJoCo sim: 3.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3). + 2.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3).[0m ×2 + 2.93sINFOjoint_trajectory_controllerGoal reached, success! + 2.94sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.96sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786395845.07362628 seconds ×3 + 2.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.791ms + 3.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395845.66670394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.56sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.56sINFOmove_groupClearing octomap...[0m ×2 + 3.56sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.940ms + 3.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3).[0m ×2 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.570ms + 4.18sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395846.28684092 seconds ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.743ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.170ms + 4.73sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395846.84384727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.206ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 5.41sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395847.52399063 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.474ms + 5.66sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339138 ms (missed cycles : 3). + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.669ms + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339138 ms (missed cycles : 3).[0m ×2 + 7.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601113 ms (missed cycles : 3). + 7.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.601113 ms (missed cycles : 3).[0m ×2 + 8.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407076 ms (missed cycles : 3). + 8.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.407076 ms (missed cycles : 3).[0m ×2 + 9.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154938 ms (missed cycles : 2). + 9.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.154938 ms (missed cycles : 2).[0m ×2 + 10.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559429 ms (missed cycles : 3). + 10.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.559429 ms (missed cycles : 3).[0m ×2 + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630378 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.630378 ms (missed cycles : 2).[0m ×2 + 11.43sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.45sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORweb_video_auth_proxy-35process has died [pid 9709, 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 + 11.46sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.48sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.49sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.50sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.51sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.52sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.53sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.54sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.55sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.57sERRORweb_bridge_auth_proxy-34process has died [pid 9708, 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 + 11.57sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.60sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.62sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.64sINFOvideo_server-33process has finished cleanly [pid 9707] ×2 + 11.64sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.68sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.71sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.75sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.78sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.80sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.84sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.87sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.88sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9706] ×2 + 11.89sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.92sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.96sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.96sINFOcontroller_managerShutdown request received.... + 11.96sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.96sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.96sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.96sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.96sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.96sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.96sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.96sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.96sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.96sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.96sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.96sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.96sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.96sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.96sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.96sINFOcontroller_managerShutting down the controller manager. + 11.97sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786395853.780 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.98sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.99sINFOui_teleop_bridge-30process has finished cleanly [pid 9704] ×2 + 11.99sERRORmove_group-21process has died [pid 9677, 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_m9_woba9 --params-file /tmp/launch_params_rjfm3_0k --params-file /tmp/launch_params_m331zk9v --params-file /tmp/launch_params_64pv7g0e --params-file /tmp/launch_params_1eu0c8jr --params-file /tmp/launch_params_7osvscdc']. ×2 + 12.01sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.01sINFOcomponent_container_mt-28process has finished cleanly [pid 9702] ×2 + 12.03sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.03sINFOexecute_objective_bridge-29process has finished cleanly [pid 9703] ×2 + 12.06sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.08sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.10sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.13sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.13sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.13sINFOmap_serverDeactivating + 12.13sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.14sINFOmap_serverCleaning up + 12.14sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.14sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.15sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.15sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.15sINFOcontroller_serverDeactivating + 12.15sINFOlocal_costmap.local_costmapDeactivating + 12.15sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.15sINFOvideo_server2026/08/10 21:04:13 INF shutting down gracefully ×2 + 12.15sINFOvideo_server2026/08/10 21:04:13 INF [WebRTC] closing ×2 + 12.15sINFOvideo_server2026/08/10 21:04:13 INF [RTSP] closing ×2 + 12.15sINFOvideo_server2026/08/10 21:04:13 INF waiting for running hooks ×2 + 12.15sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.15sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.15sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.16sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sERRORamclThe bond connection to the lifecycle manager has been broken + 12.16sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.16sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.16sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.16sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.16sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.16sERRORmove_groupStack trace (most recent call last) in thread 10316: ×2 + 12.16sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.16sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc449afa63, in __clone ×2 + 12.16sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc44922aa3, in ×2 + 12.16sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc44bb4db3, in ×2 + 12.16sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fcc45321fe7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.16sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcc44f46620, in rclcpp::Rate::sleep() ×2 + 12.16sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcc44e88d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.16sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fcc44e4a087, in ×2 + 12.16sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc44b83390, in __cxa_throw ×2 + 12.16sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc44b6da54, in std::terminate() ×2 + 12.16sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc44b830d9, in ×2 + 12.16sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fcc44b6dff4, in ×2 + 12.16sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc448ae8fe, in abort ×2 + 12.16sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc448cb27d, in raise ×2 + 12.16sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fcc44924b2c, in pthread_kill ×2 + 12.16sERRORmove_groupAborted (Signal sent by tkill() 9677 0) ×2 + 12.17sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.17sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.17sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.17sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.17sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.17sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.17sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.17sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.17sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.17sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.17sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.17sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.17sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.17sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.17sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.17sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.17sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.17sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.17sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.17sINFOodom_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 + 12.17sINFOodom_qos_relay.pymain() ×2 + 12.17sINFOodom_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 + 12.17sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.17sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.17sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.17sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.18sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.18sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.18sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.18sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.18sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.18sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.18sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.18sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.18sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.18sINFOcontroller_serverCleaning up + 12.18sINFOlocal_costmap.local_costmapCleaning up + 12.18sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.19sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.19sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.19sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.22sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.22sINFOsmoother_serverDeactivating + 12.22sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.23sINFOsmoother_serverCleaning up + 12.25sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.25sINFOplanner_serverDeactivating + 12.25sINFOglobal_costmap.global_costmapDeactivating + 12.29sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.29sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.30sINFOplanner_serverCleaning up + 12.32sINFOglobal_costmap.global_costmapCleaning up + 12.33sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.33sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.33sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.33sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.33sINFOvelocity_smootherDeactivating + 12.33sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.33sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.33sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.36sERRORcomponent_container_isolated-2process has died [pid 9581, 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_gblq0pz_ --params-file /tmp/launch_params_gqiaw_kf -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.36sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.36sINFObehavior_serverDeactivating + 12.36sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.37sINFObehavior_serverCleaning up + 12.38sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.38sINFObt_navigatorDeactivating + 12.38sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.39sINFObt_navigatorCleaning up + 12.44sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.44sINFOwaypoint_followerDeactivating + 12.44sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.54sINFObt_navigatorCompleted Cleaning up + 12.54sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.54sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.54sINFOvelocity_smootherCleaning up + 12.54sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.56sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.57sERRORbt_navigatorUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.57sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.58sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.58sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.58sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.58sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.58sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.58sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.58sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.58sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.58sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.58sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.58sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.58sINFOwaypoint_followerCleaning up + 12.61sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.61sERRORbt_navigatorUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.61sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.61sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.61sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.61sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.61sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.61sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.61sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.61sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.61sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.86sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9699] ×2 + 12.90sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9698] ×2 + 12.91sERRORcomponent_container_isolated-1process has died [pid 9580, 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_gblq0pz_ --params-file /tmp/launch_params_r12r136e -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.96sINFOwaypoint_manager_node-23process has finished cleanly [pid 9679] ×2 + 12.96sINFOparameter_manager_node-22process has finished cleanly [pid 9678] ×2 + 12.97sINFOobjective_server_node[2026-08-10 21:04:15.076] [moveit_pro_license] [info] ×2 + 12.97sINFOobjective_server_node************************************************* ×4 + 12.97sINFOobjective_server_node* MoveIt Pro License ×2 + 12.97sINFOobjective_server_node* Application has successfully terminated ×2 + 12.97sINFOcomponent_container_mt-27process has finished cleanly [pid 9701] ×2 + 13.03sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9587] ×2 + 13.03sINFOobjective_server_node_main-26process has finished cleanly [pid 9700] ×2 + 13.04sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 13.05sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9586] ×2 + 13.12sINFOstatic_transform_publisher-4process has finished cleanly [pid 9583] ×2 + 13.15sINFOstatic_transform_publisher-3process has finished cleanly [pid 9582] ×2 + 13.15sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9585] ×2 + 13.17sERRORodom_qos_relay.py-5process has died [pid 9584, 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 + 14.64sINFOweb_bridge-31process has finished cleanly [pid 9705] ×2 + 14.64sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.70sINFOros2_control_node-9process has finished cleanly [pid 9588] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 53 warnings · 92 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842042 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842042 ms (missed cycles : 3).[0m ×2 + 0.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.295ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931522 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.931522 ms (missed cycles : 3).[0m ×2 + 1.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 2.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304240 ms (missed cycles : 3). + 2.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.304240 ms (missed cycles : 3).[0m ×2 + 3.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902966 ms (missed cycles : 2). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.902966 ms (missed cycles : 2).[0m ×2 + 4.27sINFOjoint_trajectory_controllerGoal reached, success! + 4.27sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786395684.77891684 seconds ×3 + 4.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.30sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-0.86, 5.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.38sWARNlocal_costmap.local_costmapSensor origin at (-1.70, 6.25) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808257 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808257 ms (missed cycles : 2).[0m ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.422ms + 4.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.905ms + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.833ms + 4.84sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786395685.33772469 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 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 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.412ms + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.850ms + 5.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468545 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.468545 ms (missed cycles : 3).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.390ms + 6.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.724ms + 6.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.609ms + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967276 ms (missed cycles : 4). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.967276 ms (missed cycles : 4).[0m ×2 + 6.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.664ms + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.722ms + 7.08sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 7.14sINFOjoint_trajectory_controllerReceived new action goal + 7.14sINFOjoint_trajectory_controllerAccepted new action goal + 7.14sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.14sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.498ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318974 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.318974 ms (missed cycles : 2).[0m ×2 + 7.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.316ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.652ms + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.461ms + 8.50sINFOamclParticle filter update iteration stats: 4425 particles 723 points - 5.344ms + 8.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946509 ms (missed cycles : 3). + 8.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.946509 ms (missed cycles : 3).[0m ×2 + 8.91sINFOamclParticle filter update iteration stats: 3045 particles 723 points - 5.961ms + 9.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705956 ms (missed cycles : 3). + 9.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705956 ms (missed cycles : 3).[0m ×2 + 10.21sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.431ms + 10.81sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.586ms + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292100 ms (missed cycles : 4). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.292100 ms (missed cycles : 4).[0m ×2 + 11.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.796ms + 11.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.098ms + 11.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120242 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120242 ms (missed cycles : 2).[0m ×2 + 12.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 12.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.571ms + 13.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717339 ms (missed cycles : 3). + 13.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.717339 ms (missed cycles : 3).[0m ×2 + 13.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 13.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 14.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350735 ms (missed cycles : 2). + 14.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350735 ms (missed cycles : 2).[0m ×2 + 14.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.237ms + 14.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 15.01sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.01sINFOjoint_trajectory_controllerGot request to cancel goal + 15.01sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.01sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.01sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.04sERRORobjective_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: 1786395695.53590345 seconds ×3 + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.819ms + 15.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.196ms + 15.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634620 ms (missed cycles : 2). + 15.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.634620 ms (missed cycles : 2).[0m ×2 + 15.60sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786395696.09304976 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.614ms + 15.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.643ms + 16.00sINFOobjective_server_nodeFound path in 0 iterations (3.38e-07 s). ×2 + 16.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.468ms + 16.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.533ms + 16.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344916 ms (missed cycles : 3). + 16.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.344916 ms (missed cycles : 3).[0m ×2 + 16.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.988ms + 17.11sINFOamclParticle filter update iteration stats: 3959 particles 723 points - 6.073ms + 17.41sINFOamclParticle filter update iteration stats: 2784 particles 723 points - 4.929ms + 17.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836404 ms (missed cycles : 3). + 17.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.836404 ms (missed cycles : 3).[0m ×2 + 17.71sINFOamclParticle filter update iteration stats: 1914 particles 723 points - 2.724ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.6s	38 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.75sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307648 ms (missed cycles : 2). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307648 ms (missed cycles : 2).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.791ms + 8.40sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786395598.10254145 seconds ×3 + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075522 ms (missed cycles : 2). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.075522 ms (missed cycles : 2).[0m ×2 + 9.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729518 ms (missed cycles : 2). + 9.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.729518 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786395599.66653585 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.44sINFOobjective_server_nodeFound path in 0 iterations (4.87e-07 s). ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925076 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925076 ms (missed cycles : 3).[0m ×2 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045229 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045229 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	37 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464393 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464393 ms (missed cycles : 3).[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414989 ms (missed cycles : 4). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.414989 ms (missed cycles : 4).[0m ×2 + 1.53sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685086 ms (missed cycles : 4). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.685086 ms (missed cycles : 4).[0m ×2 + 2.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 3.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419753 ms (missed cycles : 4). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.419753 ms (missed cycles : 4).[0m ×2 + 3.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.93sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786395768.89322138 seconds ×3 + 3.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.12, 12.67) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. ×2 + 4.01sWARNlocal_costmap.local_costmapSensor origin at (-2.95, 12.32) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. ×2 + 4.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.099ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.774ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842192 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.842192 ms (missed cycles : 3).[0m ×2 + 4.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.274ms + 4.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786395769.45565414 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 4.97sINFOjoint_trajectory_controllerReceived new action goal + 4.97sINFOjoint_trajectory_controllerAccepted new action goal + 4.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 5.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 5.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 7.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 8.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 8.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 8.83sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 9.40sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 9.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 10.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.8s	30 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2).[0m ×2 + 4.13sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.13sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786395532.02648854 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786395532.58764935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (4.0691e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2).[0m ×2 + 7.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124306 ms (missed cycles : 4). + 7.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124306 ms (missed cycles : 4).[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786395535.82779598 seconds ×3 + 8.51sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786395536.38320923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761236 ms (missed cycles : 3). + 8.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761236 ms (missed cycles : 3).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863976 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863976 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 50 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.692ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055050 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055050 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.706ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.131ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.132ms + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.346ms + 4.01sINFOros2_control_nodeMuJoCo sim: 3.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3).[0m ×2 + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786395845.07362628 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.791ms + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395845.66670394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.86sINFOmove_groupClearing octomap...[0m ×2 + 4.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.940ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.570ms + 5.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395846.28684092 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.743ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.170ms + 6.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395846.84384727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.206ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395847.52399063 seconds ×3 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.474ms + 6.95sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339138 ms (missed cycles : 3). + 7.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.669ms + 7.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339138 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2).[0m ×2 + 4.13sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786395532.02648854 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786395532.58764935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (4.0691e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891005 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767304 ms (missed cycles : 3).[0m ×2 + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420562 ms (missed cycles : 3).[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.588989 ms (missed cycles : 2).[0m ×2 + 4.13sINFOjoint_trajectory_controllerGoal reached, success! + 4.13sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.16sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786395532.02648854 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3).[0m ×2 + 4.72sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786395532.58764935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3).[0m ×2 + 5.82sINFOobjective_server_nodeFound path in 0 iterations (4.0691e-05 s). ×2 + 5.83sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.85sINFOjoint_trajectory_controllerReceived new action goal + 5.85sINFOjoint_trajectory_controllerAccepted new action goal + 5.85sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.85sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 50 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.02sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786395532.02648854 seconds ×3 + 0.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.04sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664050 ms (missed cycles : 3).[0m ×2 + 0.58sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786395532.58764935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.107880 ms (missed cycles : 3).[0m ×2 + 1.69sINFOobjective_server_nodeFound path in 0 iterations (4.0691e-05 s). ×2 + 1.69sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.72sINFOjoint_trajectory_controllerReceived new action goal + 1.72sINFOjoint_trajectory_controllerAccepted new action goal + 1.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.72sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959400 ms (missed cycles : 2).[0m ×2 + 3.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124306 ms (missed cycles : 4). + 3.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.124306 ms (missed cycles : 4).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786395535.82779598 seconds ×3 + 4.38sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786395536.38320923 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761236 ms (missed cycles : 3). + 4.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761236 ms (missed cycles : 3).[0m ×2 + 4.76sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863976 ms (missed cycles : 2). + 5.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863976 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	23 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786395630.52802801 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.846ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786395631.08877206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.887ms + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.997ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.627ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.805ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.546ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.487ms + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	23 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786395630.52802801 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.846ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786395631.08877206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.887ms + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.997ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.627ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.805ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.546ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.487ms + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3).[0m ×2
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	23 warnings · 36 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 0.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.500817 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.255ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.526653 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.025ms + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.264922 ms (missed cycles : 3).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3). + 3.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.645375 ms (missed cycles : 3).[0m ×2 + 4.17sINFOjoint_trajectory_controllerGoal reached, success! + 4.18sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786395630.52802801 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.28sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.846ms + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4). + 4.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.578607 ms (missed cycles : 4).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.083ms + 4.79sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786395631.08877206 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.81sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.81sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.887ms + 5.26sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.997ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.448ms + 5.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2). + 5.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.823384 ms (missed cycles : 2).[0m ×2 + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.627ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.805ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.546ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.487ms + 6.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3). + 6.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.523641 ms (missed cycles : 3).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.692ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055050 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.055050 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.706ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.131ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2). + 1.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.127553 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.622ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.132ms + 2.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3). + 2.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.930253 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.346ms + 4.01sINFOros2_control_nodeMuJoCo sim: 3.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3). + 4.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545428 ms (missed cycles : 3).[0m ×2 + 4.23sINFOjoint_trajectory_controllerGoal reached, success! + 4.23sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786395845.07362628 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.295ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.791ms + 4.85sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786395845.66670394 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.86sINFOmove_groupClearing octomap...[0m ×2 + 4.86sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.940ms + 5.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679400 ms (missed cycles : 3).[0m ×2 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.570ms + 5.47sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786395846.28684092 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.743ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.170ms + 6.03sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786395846.84384727 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313201 ms (missed cycles : 4).[0m ×2 + 6.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.206ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.282ms + 6.71sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786395847.52399063 seconds ×3 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.474ms
− 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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 0.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 1.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 1.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 1.79sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.79sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.79sINFOmove_groupClearing octomap...[0m ×2 + 1.79sINFOmove_groupOctomap cleared.[0m ×2 + 1.80sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 2.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 2.36sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.37sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 2.93sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.08sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 3.67sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.68sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.69sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.69sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.69sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.69sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.69sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.69sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.69sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.69sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.70sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.70sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.70sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.70sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.71sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.71sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.72sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 4.28sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.29sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.29sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.29sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.29sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.29sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 4.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 5.34sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.35sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 5.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 5.67sINFOjoint_trajectory_controllerReceived new action goal + 5.67sINFOjoint_trajectory_controllerAccepted new action goal + 5.67sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.67sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 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	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	23 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.449698 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.599933 ms (missed cycles : 4).[0m ×2 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.327567 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.506ms + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870601 ms (missed cycles : 3).[0m ×2 + 3.75sINFOjoint_trajectory_controllerGoal reached, success! + 3.75sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.76sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786395593.46335959 seconds ×3 + 3.78sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.79sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.88sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.869ms + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291314 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.995ms + 4.33sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786395594.03240013 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.36sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.467ms + 4.71sINFOobjective_server_nodeFound path in 0 iterations (3.11e-07 s). ×2 + 4.73sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.75sINFOjoint_trajectory_controllerReceived new action goal + 4.75sINFOjoint_trajectory_controllerAccepted new action goal + 4.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411197 ms (missed cycles : 3).[0m ×2 + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.539ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.255471 ms (missed cycles : 2).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 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 + 0.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.178ms + 0.40sINFOjoint_trajectory_controllerReceived new action goal + 0.40sINFOjoint_trajectory_controllerAccepted new action goal + 0.40sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.40sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.919ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.804138 ms (missed cycles : 2).[0m ×2 + 1.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.384ms + 1.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3). + 1.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.696840 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.020ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.925654 ms (missed cycles : 3).[0m ×2 + 3.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.938ms + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.746111 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.26sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786395773.79580832 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.83sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786395774.36603904 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4). + 5.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.528536 ms (missed cycles : 4).[0m ×2 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.777337 ms (missed cycles : 3).[0m ×2

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

7 skip

− skipped	—	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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	18 warnings · 114 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.77sINFOmove_groupClearing octomap...[0m ×2 + 4.77sINFOmove_groupOctomap cleared.[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.66sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.66sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.67sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.69sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.69sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 7.25sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.26sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.26sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.27sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.27sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.27sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 6.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 96 info
+ 0.00sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.00sINFOwaypoint_followerActivating + 0.00sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.11sINFOvelocity_smootherActivating + 0.11sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.21sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.98sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 3.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 4.22sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.77sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.77sINFOmove_groupClearing octomap...[0m ×2 + 4.77sINFOmove_groupOctomap cleared.[0m ×2 + 4.78sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 5.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 5.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.35sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 5.91sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 6.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 6.65sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.66sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.66sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.66sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.66sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.66sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.66sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.66sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.67sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.67sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.68sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.68sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.68sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.68sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.69sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.69sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.70sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319375 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 2.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 3.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 3.82sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.83sINFOmove_groupClearing octomap...[0m ×2 + 3.83sINFOmove_groupOctomap cleared.[0m ×2 + 3.83sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 4.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 4.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 4.97sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.12sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 5.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.72sINFOobjective_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 + 5.72sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.72sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.72sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.72sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.72sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.72sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.74sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.74sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.74sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.74sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.75sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.75sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.76sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 6.31sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.32sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.32sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.32sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.32sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.32sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.32sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.33sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− 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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2

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

10 skip

− 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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_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 4.787214 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.787214 ms (missed cycles : 3).[0m ×2 + 0.89sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3). + 1.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.371763 ms (missed cycles : 3).[0m ×2 + 2.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.14sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.020130 ms (missed cycles : 2).[0m ×2 + 2.68sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786395486.58701849 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.68sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.68sINFOmove_groupClearing octomap...[0m ×2 + 2.69sINFOmove_groupOctomap cleared.[0m ×2 + 2.69sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786395486.59728026 seconds ×3 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.358700 ms (missed cycles : 3).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786395487.16256595 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786395487.17268610 seconds ×3 + 3.83sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786395487.73269296 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786395487.88330936 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837478 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786395488.47096157 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.58sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.58sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.58sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.58sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.58sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.58sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.59sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.60sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.60sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.60sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.60sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.60sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.62sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786395488.52138925 seconds ×3 + 5.17sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786395489.07554603 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.18sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.18sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.18sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.18sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.18sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.18sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.18sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3). + 5.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630677 ms (missed cycles : 3).[0m ×2 + 6.24sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.24sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.004374 ms (missed cycles : 3).[0m ×2 + 6.56sINFOjoint_trajectory_controllerReceived new action goal + 6.56sINFOjoint_trajectory_controllerAccepted new action goal + 6.56sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.56sINFOros2_control_nodeAccepted new action goal[0m ×2