MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.3s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.1s	12 errors · 308 warnings · 1237 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/2026-08-10-22-02-22-553599-29df7840d0d5-9411 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.84sINFOstatic_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' + 13.84sINFOstatic_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' + 13.96sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.98sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.99sINFOcontroller_managerupdate rate is 600 Hz + 13.99sINFOcontroller_managerOverruns handling is : enabled + 13.99sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.99sWARNcontroller_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. + 14.07sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.07sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.09sINFOros2_control_node-9process started with pid [9469] ×2 + 14.10sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.10sINFOmove_group-21process started with pid [9558] ×2 + 14.10sINFOparameter_manager_node-22process started with pid [9559] ×2 + 14.10sINFOwaypoint_manager_node-23process started with pid [9560] ×2 + 14.10sINFOmove_joint_resampler_node-24process started with pid [9579] ×2 + 14.10sINFOmove_end_effector_resampler_node-25process started with pid [9580] ×2 + 14.11sINFOobjective_server_node_main-26process started with pid [9581] ×2 + 14.11sINFOcomponent_container_mt-27process started with pid [9582] ×2 + 14.11sINFOcomponent_container_mt-28process started with pid [9583] ×2 + 14.11sINFOexecute_objective_bridge-29process started with pid [9584] ×2 + 14.11sINFOui_teleop_bridge-30process started with pid [9585] ×2 + 14.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854979 ms (missed cycles : 5). + 14.11sINFOweb_bridge-31process started with pid [9586] ×2 + 14.11sINFOtf2_web_republisher_node-32process started with pid [9587] ×2 + 14.11sINFOvideo_server-33process started with pid [9588] ×2 + 14.11sINFOweb_bridge_auth_proxy-34process started with pid [9589] ×2 + 14.12sINFOweb_video_auth_proxy-35process started with pid [9590] ×2 + 14.12sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.13sINFOcomponent_container_isolated-1process started with pid [9461] ×2 + 14.14sINFOcomponent_container_isolated-2process started with pid [9462] ×2 + 14.14sINFOstatic_transform_publisher-3process started with pid [9463] ×2 + 14.14sINFOstatic_transform_publisher-4process started with pid [9464] ×2 + 14.14sINFOodom_qos_relay.py-5process started with pid [9465] ×2 + 14.14sINFOforward_stereo_publisher.py-6process started with pid [9466] ×2 + 14.14sINFOscan_to_scan_filter_chain-7process started with pid [9467] ×2 + 14.14sINFOscan_to_scan_filter_chain-8process started with pid [9468] ×2 + 14.14sINFOros2-10process started with pid [9538] ×2 + 14.15sINFOros2-11process started with pid [9541] ×2 + 14.15sINFOros2-12process started with pid [9542] ×2 + 14.15sINFOros2-13process started with pid [9543] ×2 + 14.15sINFOros2-14process started with pid [9544] ×2 + 14.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.15sINFOros2-15process started with pid [9545] ×2 + 14.15sINFOros2-16process started with pid [9552] ×2 + 14.15sINFOros2-17process started with pid [9554] ×2 + 14.16sINFOros2-18process started with pid [9555] ×2 + 14.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.16sINFOros2-19process started with pid [9556] ×2 + 14.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.16sINFOros2-20process started with pid [9557] ×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. + 14.27sINFOcontroller_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> + 14.29sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.29sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 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. + 14.30sINFOlocal_costmap.local_costmapCreating Costmap + 14.31sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 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 + 14.31sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.31sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.31sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.31sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.33sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.33sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.33sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.33sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.34sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.34sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.34sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.34sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.35sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.35sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.35sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.35sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.35sWARNros2_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 + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.854979 ms (missed cycles : 5).[0m ×2 + 14.36sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.36sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.36sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.38sINFOrobot_state_publisherRobot initialized + 14.39sINFOcontroller_managerReceived robot description from topic. + 14.39sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.39sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.40sINFOsmoother_serverCreating smoother server + 14.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.42sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.43sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.43sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.45sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.46sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.46sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.47sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.47sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.47sINFOplanner_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. + 14.48sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.48sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.48sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.49sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.50sINFOlifecycle_manager_localizationCreating + 14.51sINFOplanner_serverCreating + 14.52sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.52sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.53sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.53sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.53sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.54sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.54sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.54sINFOmap_serverConfiguring + 14.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.55sINFOglobal_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. + 14.57sINFOglobal_costmap.global_costmapCreating Costmap + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.58sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.59sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.59sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.60sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.63sINFObehavior_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. + 14.65sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.65sINFOamclConfiguring + 14.65sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.66sINFOmap_serverActivating + 14.66sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.69sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.75sINFObt_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. + 14.77sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.77sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.77sINFOamclActivating + 14.78sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.78sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.78sINFOamclSubscribed to map_topic: /map + 14.79sINFOamclSubscribed to scan_topic: /scan_merged + 14.79sINFOamclCreated reinitialize_global_localization service + 14.79sINFObt_navigatorCreating + 14.79sINFOamclCreated request_nomotion_update service + 14.80sINFOamclA new map was received + 14.81sINFOamclInitializing particle filter instance + 14.81sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.83sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.84sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.84sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.85sWARNlaser_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. + 14.86sWARNscan_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 + 14.86sWARNlaser_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. + 14.89sINFOwaypoint_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. + 14.89sINFOwaypoint_followerCreating + 14.91sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.92sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.92sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.92sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.98sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 15.00sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.01sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.01sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.01sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.04sINFOlifecycle_manager_navigationCreating + 15.06sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.07sINFOvideo_server2026/08/10 22:02:41 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.07sINFOvideo_server2026/08/10 22:02:41 INF configuration loaded from /tmp/moveit-webrtc-11r7clk2/mediamtx.yml ×2 + 15.07sINFOvideo_server2026/08/10 22:02:41 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.07sINFOvideo_server2026/08/10 22:02:41 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.09sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.09sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.09sINFOcontroller_serverConfiguring controller interface + 15.09sINFOcontroller_servergetting progress checker plugins.. + 15.09sINFOcontroller_servergetting goal checker plugins.. + 15.09sINFOcontroller_serverController frequency set to 20.0000Hz + 15.09sINFOlocal_costmap.local_costmapConfiguring + 15.11sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.11sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.357089 seconds + 15.12sINFOmove_groupLoaded robot model in 0.357089 seconds[0m ×2 + 15.13sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.13sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.13sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.13sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.14sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638624 ms (missed cycles : 3). + 15.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.638624 ms (missed cycles : 3).[0m ×2 + 15.17sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.17sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.17sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.22sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.24sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.24sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.24sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.24sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.25sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.26sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.26sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.27sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.27sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.27sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.27sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.28sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.28sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.29sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.29sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.29sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.30sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.30sINFOcontroller_serverOptimizer reset ×2 + 15.31sINFOcontroller_serverController Server has FollowPath controllers available. + 15.33sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.33sINFOsmoother_serverConfiguring smoother server + 15.34sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.34sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.35sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.35sINFOplanner_serverConfiguring + 15.35sINFOglobal_costmap.global_costmapConfiguring + 15.36sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.37sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.37sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.38sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.38sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.40sINFOamclParticle filter initialization completed + 15.40sINFOamclInitializing particles from estimated pose and covariance + 15.41sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.41sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.42sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.42sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.42sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.43sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.43sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.43sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.47sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.47sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.47sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.48sINFOplanner_serverPlanner Server has GridBased planners available. + 15.50sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.50sINFObehavior_serverConfiguring + 15.51sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.51sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.52sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.53sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.53sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.54sINFOwaypoint_manager_nodeLoaded robot model in 0.372933 seconds[0m ×2 + 15.54sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.54sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.55sINFObehavior_serverConfiguring spin + 15.56sINFObehavior_serverConfiguring backup + 15.58sINFObehavior_serverConfiguring drive_on_heading + 15.59sINFObehavior_serverConfiguring assisted_teleop + 15.61sINFObehavior_serverConfiguring wait + 15.62sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.62sINFObt_navigatorConfiguring + 15.63sINFObt_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 + 15.74sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.75sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.75sWARNmove_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. + 15.75sWARNmove_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. + 15.75sWARNmove_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 + 15.75sWARNmove_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. + 15.75sWARNmove_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. + 15.75sWARNmove_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. + 15.76sWARNmove_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. + 15.76sWARNmove_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. + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.76sWARNmove_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. + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.76sWARNmove_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. + 15.76sWARNmove_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. + 15.76sWARNmove_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 + 15.76sWARNmove_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 + 15.91sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.99sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.99sINFOwaypoint_followerConfiguring + 16.03sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.03sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.03sINFOvelocity_smootherConfiguring velocity smoother + 16.04sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.04sINFOcontroller_serverActivating + 16.04sINFOlocal_costmap.local_costmapActivating + 16.04sINFOlocal_costmap.local_costmapChecking transform + 16.04sINFOlocal_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. ×15 + 16.19sINFOmove_group[2026-08-10 22:02:42.142] [moveit_pro_license] [info] ×2 + 16.19sINFOmove_group************************************************* ×4 + 16.19sINFOmove_group* MoveIt Pro License ×2 + 16.19sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.20sWARNwaypoint_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. + 16.20sWARNwaypoint_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 + 16.21sWARNwaypoint_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. + 16.21sWARNwaypoint_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 + 16.21sWARNwaypoint_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. + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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. + 16.22sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_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 + 16.24sWARNwaypoint_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 + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_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 + 16.26sWARNwaypoint_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 + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_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 + 16.27sWARNwaypoint_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 + 16.27sWARNwaypoint_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 + 16.27sWARNwaypoint_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 + 16.27sWARNwaypoint_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. + 16.27sWARNwaypoint_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. + 16.27sWARNwaypoint_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 + 16.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_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. + 16.28sWARNwaypoint_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. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_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. + 16.28sWARNwaypoint_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. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_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 + 16.28sWARNwaypoint_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. + 16.28sWARNwaypoint_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. + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_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. + 16.29sWARNwaypoint_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. + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665500 ms (missed cycles : 2). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.665500 ms (missed cycles : 2).[0m ×2 + 16.51sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.51sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.51sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.51sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.61sINFOwaypoint_manager_node[2026-08-10 22:02:42.568] [moveit_pro_license] [info] ×2 + 16.61sINFOwaypoint_manager_node************************************************* ×4 + 16.61sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.61sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.80sINFOspawner_vacuum_gripperwaiting for service /controller_manager/list_controllers to become available... + 16.81sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.15sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.15sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.17sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.19sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.19sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.19sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.19sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.19sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.19sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.19sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.19sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.19sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.19sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.20sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.20sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.20sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.20sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.20sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.20sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.20sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.20sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.20sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.55sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.55sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.55sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.55sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.55sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.55sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.55sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.55sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.55sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.55sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.55sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.55sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.55sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.55sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.55sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.55sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.56sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.56sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.56sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.56sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.56sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.56sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.56sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.56sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.56sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 17.56sINFOcontroller_managerLoading controller 'vacuum_gripper' + 17.57sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 17.57sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 17.57sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 17.57sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958574 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.958574 ms (missed cycles : 2).[0m ×2 + 17.60sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.60sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.60sWARNros2_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 + 17.61sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 17.61sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 17.61sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 17.61sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 17.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 17.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 17.62sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 17.62sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 17.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 17.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 17.62sINFOcontroller_managerSuccessfully switched controllers! ×7 + 17.63sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 17.63sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 17.63sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 17.83sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[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 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.93sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.93sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 17.95sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 17.95sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 17.95sINFOstreaming_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) + 17.96sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 17.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 17.96sINFOcomponent_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 + 17.96sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 17.96sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.00sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 18.00sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 18.00sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 18.00sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 18.00sINFOros2-14process has finished cleanly [pid 9544] ×2 + 18.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.11sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 18.11sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 18.15sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.15sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.15sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.15sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.17sINFOstreaming_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) + 18.17sINFOobjective_server_node[2026-08-10 22:02:44.128] [moveit_pro_license] [info] ×2 + 18.17sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.17sINFOobjective_server_node************************************************* ×4 + 18.17sINFOobjective_server_node* MoveIt Pro License ×2 + 18.17sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.17sINFOcomponent_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 + 18.18sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.18sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.18sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.18sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 18.18sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.18sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 18.18sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 18.19sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 18.20sWARNcomponent_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 + 18.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.23sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.25sINFOobjective_server_nodeLoaded robot model in 0.0234587 seconds[0m ×2 + 18.25sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.25sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.56sINFOcomponent_container_mtLoaded robot model in 0.360586 seconds[0m ×2 + 18.56sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.56sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637150 ms (missed cycles : 2). + 18.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.637150 ms (missed cycles : 2).[0m ×2 + 18.69sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.76sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.76sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.76sWARNobjective_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. + 18.77sWARNobjective_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. + 18.77sWARNobjective_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 + 18.77sWARNobjective_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 + 18.77sWARNobjective_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 + 18.77sWARNobjective_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 + 18.77sWARNobjective_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 + 18.77sWARNobjective_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 + 18.78sWARNobjective_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 + 18.78sWARNobjective_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 + 18.78sWARNobjective_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 + 18.78sWARNobjective_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 + 18.78sINFOros2_control_node[2026-08-10 22:02:44.730] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 18.78sINFOros2_control_node[2026-08-10 22:02:44.734] [info] Controller state will be published at 10 Hz. ×2 + 18.78sINFOros2_control_node[2026-08-10 22:02:44.735] [info] VelocityForceController 'on_configure' succeeded. ×2 + 18.79sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786399363.639 for reason 'discarding message because the queue is full' + 18.83sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.83sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.84sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.84sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.84sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.84sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.84sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.84sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.84sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.95sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.95sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.96sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.97sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.97sWARNcomponent_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 + 19.04sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.04sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.12sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 19.12sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 19.12sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 19.12sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 19.12sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 19.13sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 19.15sINFOros2-18process has finished cleanly [pid 9555] ×2 + 19.19sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 19.19sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 19.19sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 19.19sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 19.19sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 19.19sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 19.20sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 19.20sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 19.20sINFOcomponent_container_mt[2026-08-10 22:02:45.160] [moveit_pro_license] [info] ×2 + 19.20sINFOcomponent_container_mt************************************************* ×4 + 19.20sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.20sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.32sINFOmove_groupMoveGroup debug mode is ON + 19.32sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.32sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.37sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.38sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.40sWARNros2_control_nodeCamera render tick took 0.66 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 + 19.44sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.50sINFOmove_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 ****************************************************** + 19.50sINFOmove_group ×8 + 19.50sINFOmove_group****************************************************** ×4 + 19.50sINFOmove_group* MoveGroup using: ×2 + 19.50sINFOmove_group* - apply_planning_scene_service ×2 + 19.50sINFOmove_group* - clear_octomap_service ×2 + 19.50sINFOmove_group* - get_group_urdf ×2 + 19.50sINFOmove_group* - load_geometry_from_file ×2 + 19.50sINFOmove_group* - get_planning_scene_service ×2 + 19.50sINFOmove_group* - kinematics_service ×2 + 19.50sINFOmove_group* - save_geometry_to_file ×2 + 19.50sINFOmove_group* - GetPlanningGroups ×2 + 19.50sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.50sINFOmove_group[0m ×2 + 19.50sINFOmove_group[92mYou can start planning now![0m ×2 + 19.53sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 19.53sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 19.53sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 19.53sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 19.54sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 19.54sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 19.54sINFOros2-11process has finished cleanly [pid 9541] ×2 + 19.60sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 19.60sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 19.60sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 19.61sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 19.61sINFOplatform_velocity_controller_nav2configure successful + 19.61sINFOros2_control_nodeconfigure successful[0m ×6 + 19.62sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.62sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.63sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919411 ms (missed cycles : 3). + 19.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919411 ms (missed cycles : 3).[0m ×2 + 19.83sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.83sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.85sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.04sINFOros2-15process has finished cleanly [pid 9545] ×2 + 20.04sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.04sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.05sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.05sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.11sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 20.11sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 20.18sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.18sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.19sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.19sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.57sINFOros2_control_node[2026-08-10 22:02:46.530] [info] Controller state will be published at 20 Hz. ×2 + 20.57sINFOros2_control_node[2026-08-10 22:02:46.531] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.233886 ms (missed cycles : 5). + 20.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.233886 ms (missed cycles : 5).[0m ×2 + 20.91sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 20.91sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 20.91sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 20.91sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 20.91sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 20.91sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 20.93sINFOros2-20process has finished cleanly [pid 9557] ×2 + 20.97sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 20.97sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 20.97sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 20.97sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 20.98sINFOforce_torque_sensor_broadcasterconfigure successful + 20.98sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 20.98sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 20.98sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 20.99sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 21.14sWARNobjective_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 + 21.19sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.30sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786399366.139 for reason 'discarding message because the queue is full' + 21.31sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.31sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.31sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 21.31sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.32sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.32sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 21.32sINFOros2-10process has finished cleanly [pid 9538] ×2 + 21.40sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.40sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.40sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.41sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.83sINFOros2_control_node[2026-08-10 22:02:47.789] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.83sINFOros2_control_node[2026-08-10 22:02:47.790] [info] Controller state will be published at 10 Hz. ×2 + 21.83sINFOros2_control_node[2026-08-10 22:02:47.791] [info] VelocityForceController 'on_configure' succeeded. ×2 + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122358 ms (missed cycles : 2). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.122358 ms (missed cycles : 2).[0m ×2 + 22.18sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.18sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 22.18sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 22.18sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.18sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 22.18sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 22.19sINFOros2-17process has finished cleanly [pid 9554] ×2 + 22.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 22.25sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 22.25sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 22.25sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 22.70sINFOros2_control_node[2026-08-10 22:02:48.654] [info] Controller state will be published at 20 Hz. ×2 + 22.70sINFOros2_control_node[2026-08-10 22:02:48.654] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153811 ms (missed cycles : 2). + 22.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153811 ms (missed cycles : 2).[0m ×2 + 23.04sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 23.04sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 23.05sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 23.05sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 23.05sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 23.05sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 23.06sINFOros2-19process has finished cleanly [pid 9556] ×2 + 23.14sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 23.14sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 23.14sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 23.14sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 23.14sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 23.14sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 23.14sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 23.15sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 23.15sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 23.15sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 23.15sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 23.15sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 23.15sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 23.15sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 23.15sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 23.45sINFOros2-16process has finished cleanly [pid 9552] ×2 + 23.45sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 23.45sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 23.45sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 23.45sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 23.45sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 23.45sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 23.51sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 23.52sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 23.52sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 23.52sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 23.52sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 23.52sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 23.53sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 23.53sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 23.54sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 23.54sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 23.54sINFOlocal_costmap.local_costmapstart + 23.64sWARNcontroller_serverParameter controller_server.verbose not found + 23.65sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 23.65sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 23.71sINFOamclParticle filter update iteration stats: 2103 particles 723 points - 3.469ms + 23.75sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 23.75sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 23.75sINFOsmoother_serverActivating + 23.75sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 23.86sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 23.86sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 23.86sINFOplanner_serverActivating + 23.86sINFOglobal_costmap.global_costmapActivating + 23.86sINFOglobal_costmap.global_costmapChecking transform + 23.86sINFOglobal_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 1786399369.797495 but the earliest data is at time 1786399370.538921, when looking up transform from frame [ridgeback_base_link] to frame [map] + 23.88sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 23.88sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 23.88sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj + 23.88sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 23.88sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 23.88sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ehcjb6ya --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_a8z1plgk --params-file /tmp/launch_params_0c6gfyoj [0m ×2 + 23.91sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786399368.739 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 23.91sINFOros2-12process has finished cleanly [pid 9542] ×2 + 23.95sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 23.95sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 23.95sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 23.95sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 23.95sINFOplatform_velocity_controllerconfigure successful + 23.96sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 23.96sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 23.96sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 23.96sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 24.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483504 ms (missed cycles : 3). + 24.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483504 ms (missed cycles : 3).[0m ×2 + 24.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.28sINFOros2-13process has finished cleanly [pid 9543] ×2 + 24.36sINFOglobal_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 1786399370.305833 but the earliest data is at time 1786399370.538921, when looking up transform from frame [ridgeback_base_link] to frame [map] + 24.86sINFOglobal_costmap.global_costmapstart + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440995 ms (missed cycles : 3). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440995 ms (missed cycles : 3).[0m ×2 + 25.91sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 25.91sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 26.02sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 26.02sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 26.02sINFObehavior_serverActivating + 26.02sINFObehavior_serverActivating spin + 26.02sINFObehavior_serverActivating backup + 26.02sINFObehavior_serverActivating drive_on_heading + 26.02sINFObehavior_serverActivating assisted_teleop + 26.02sINFObehavior_serverActivating wait + 26.02sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 26.12sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 26.12sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 26.12sINFObt_navigatorActivating + 26.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 26.18sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 26.29sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 26.29sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 26.29sINFOwaypoint_followerActivating + 26.29sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 26.39sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 26.39sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 26.39sINFOvelocity_smootherActivating + 26.39sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 26.50sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 26.50sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 26.50sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 27.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 27.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 27.59sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 28.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 29.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 29.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 29.31sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.31sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.31sINFOmove_groupClearing octomap...[0m ×2 + 29.31sINFOmove_groupOctomap cleared.[0m ×2 + 29.32sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 29.88sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.89sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 30.44sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.59sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 31.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.19sINFOobjective_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 + 31.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.20sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.20sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.22sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.22sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.23sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.23sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.23sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 31.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	70.3s	3 errors · 224 warnings · 214 info
+ 0.00sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.187ms + 0.60sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.349ms + 0.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464912 ms (missed cycles : 3). + 0.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464912 ms (missed cycles : 3).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.092ms + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411482 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411482 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420931 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420931 ms (missed cycles : 2).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 4.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 4.14sINFOobjective_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 + 4.14sINFOjoint_trajectory_controllerGot request to cancel goal + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764609 ms (missed cycles : 2). + 4.14sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.15sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.15sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764609 ms (missed cycles : 2).[0m ×2 + 4.16sERRORobjective_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: 1786399584.31931424 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 + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 3.81) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 3.74) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.30sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 3.310ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.426ms + 4.72sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786399584.88104844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.309ms + 5.11sINFOobjective_server_nodeFound path in 0 iterations (6.31e-07 s). ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206726 ms (missed cycles : 4). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206726 ms (missed cycles : 4).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.342ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.965ms + 5.90sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 5.913ms + 6.20sINFOamclParticle filter update iteration stats: 2701 particles 723 points - 4.100ms + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599553 ms (missed cycles : 3). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599553 ms (missed cycles : 3).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 3.231ms + 6.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 6.92sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.00sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.00sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.00sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.00sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322275 ms (missed cycles : 2). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.322275 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms ×2 + 8.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069850 ms (missed cycles : 3). + 8.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.069850 ms (missed cycles : 3).[0m ×2 + 8.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 8.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.057ms + 9.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742868 ms (missed cycles : 4). + 9.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.742868 ms (missed cycles : 4).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 10.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484331 ms (missed cycles : 3). + 10.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484331 ms (missed cycles : 3).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 11.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057364 ms (missed cycles : 4). + 11.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.057364 ms (missed cycles : 4).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 12.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731878 ms (missed cycles : 2). + 12.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.731878 ms (missed cycles : 2).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.875ms + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544466 ms (missed cycles : 4). + 13.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.544466 ms (missed cycles : 4).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 14.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms ×2 + 14.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288338 ms (missed cycles : 2). + 14.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.288338 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.854ms + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109842 ms (missed cycles : 2). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109842 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 16.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493949 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.493949 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms + 17.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844612 ms (missed cycles : 2). + 17.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.844612 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.850ms + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms ×2 + 19.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442046 ms (missed cycles : 3). + 19.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442046 ms (missed cycles : 3).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 19.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.234ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.159ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400054 ms (missed cycles : 2). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400054 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.655ms + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144997 ms (missed cycles : 4). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144997 ms (missed cycles : 4).[0m ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.331ms + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275806 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.275806 ms (missed cycles : 3).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 23.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392258 ms (missed cycles : 3). + 23.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.392258 ms (missed cycles : 3).[0m ×2 + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.995ms + 24.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.420ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632980 ms (missed cycles : 3). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.632980 ms (missed cycles : 3).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 25.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230261 ms (missed cycles : 2). + 25.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.230261 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.461ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 26.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351836 ms (missed cycles : 3). + 26.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.351836 ms (missed cycles : 3).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.495ms + 27.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307315 ms (missed cycles : 2). + 27.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.307315 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 28.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128637 ms (missed cycles : 4). + 28.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128637 ms (missed cycles : 4).[0m ×2 + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880046 ms (missed cycles : 4). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.880046 ms (missed cycles : 4).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536579 ms (missed cycles : 3). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536579 ms (missed cycles : 3).[0m ×2 + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.175ms + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257231 ms (missed cycles : 4). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.257231 ms (missed cycles : 4).[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.541ms + 33.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002074 ms (missed cycles : 2). + 33.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.002074 ms (missed cycles : 2).[0m ×2 + 33.41sINFOros2_control_nodeMuJoCo sim: 1.07% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452944 ms (missed cycles : 3). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452944 ms (missed cycles : 3).[0m ×2 + 34.23sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.23sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.52sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433168 ms (missed cycles : 3). + 35.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.433168 ms (missed cycles : 3).[0m ×2 + 35.25sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.25sINFOobjective_server_nodePlanning for 29 path waypoints. ×6 + 36.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160868 ms (missed cycles : 2). + 36.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160868 ms (missed cycles : 2).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201071 ms (missed cycles : 2). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.201071 ms (missed cycles : 2).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 38.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146795 ms (missed cycles : 2). + 38.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.146795 ms (missed cycles : 2).[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.455ms + 39.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486779 ms (missed cycles : 3). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.486779 ms (missed cycles : 3).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 40.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.862ms + 40.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895650 ms (missed cycles : 2). + 40.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895650 ms (missed cycles : 2).[0m ×2 + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 41.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390740 ms (missed cycles : 3). + 41.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.390740 ms (missed cycles : 3).[0m ×2 + 42.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724571 ms (missed cycles : 2). + 42.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724571 ms (missed cycles : 2).[0m ×2 + 43.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325398 ms (missed cycles : 4). + 43.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.325398 ms (missed cycles : 4).[0m ×2 + 44.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 44.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751972 ms (missed cycles : 4). + 44.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.751972 ms (missed cycles : 4).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 45.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772248 ms (missed cycles : 3). + 45.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.772248 ms (missed cycles : 3).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 46.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602900 ms (missed cycles : 3). + 46.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602900 ms (missed cycles : 3).[0m ×2 + 46.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816983 ms (missed cycles : 4). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816983 ms (missed cycles : 4).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.512ms + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 48.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724167 ms (missed cycles : 2). + 48.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724167 ms (missed cycles : 2).[0m ×2 + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 49.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258704 ms (missed cycles : 4). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.258704 ms (missed cycles : 4).[0m ×2 + 50.59sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 51.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120330 ms (missed cycles : 2). + 51.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.120330 ms (missed cycles : 2).[0m ×2 + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488266 ms (missed cycles : 3). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488266 ms (missed cycles : 3).[0m ×2 + 53.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781560 ms (missed cycles : 2). + 53.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.781560 ms (missed cycles : 2).[0m ×2 + 54.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688540 ms (missed cycles : 5). + 54.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688540 ms (missed cycles : 5).[0m ×2 + 54.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024310 ms (missed cycles : 4). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.024310 ms (missed cycles : 4).[0m ×2 + 56.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562404 ms (missed cycles : 3). + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562404 ms (missed cycles : 3).[0m ×2 + 57.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 57.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688522 ms (missed cycles : 3). + 57.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.688522 ms (missed cycles : 3).[0m ×2 + 57.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.190ms + 58.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 58.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419597 ms (missed cycles : 3). + 58.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419597 ms (missed cycles : 3).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.466ms + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009820 ms (missed cycles : 4). + 59.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009820 ms (missed cycles : 4).[0m ×2 + 60.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695706 ms (missed cycles : 3). + 60.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695706 ms (missed cycles : 3).[0m ×2 + 61.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 61.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341344 ms (missed cycles : 4). + 61.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.341344 ms (missed cycles : 4).[0m ×2 + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756991 ms (missed cycles : 3). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.756991 ms (missed cycles : 3).[0m ×2 + 64.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 64.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933532 ms (missed cycles : 3). + 64.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.933532 ms (missed cycles : 3).[0m ×2 + 65.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045869 ms (missed cycles : 2). + 65.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.045869 ms (missed cycles : 2).[0m ×2 + 66.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384729 ms (missed cycles : 4). + 66.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.384729 ms (missed cycles : 4).[0m ×2 + 66.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 67.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000913 ms (missed cycles : 2). + 67.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.000913 ms (missed cycles : 2).[0m ×2 + 68.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 68.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665325 ms (missed cycles : 3). + 68.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.665325 ms (missed cycles : 3).[0m ×2 + 69.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 70.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058926 ms (missed cycles : 4). + 70.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058926 ms (missed cycles : 4).[0m ×2 + 70.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 71.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452342 ms (missed cycles : 3). + 71.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452342 ms (missed cycles : 3).[0m ×2 + 71.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 72.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680551 ms (missed cycles : 5). + 72.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680551 ms (missed cycles : 5).[0m ×2 + 72.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 72.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 73.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100510 ms (missed cycles : 3). + 73.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100510 ms (missed cycles : 3).[0m ×2 + 74.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 74.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861091 ms (missed cycles : 2). + 74.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861091 ms (missed cycles : 2).[0m ×2 + 74.46sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786399654.62128735 seconds ×3 + 74.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.698ms + 74.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.581ms + 75.02sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786399655.18225169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 75.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 75.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 75.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 75.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 76.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 76.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 76.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.6s	191 warnings · 167 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786399420.73839593 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786399421.29792070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (2.7103e-05 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.68sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.68sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.69sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.69sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092659 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092659 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786399424.49805403 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786399425.07778263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978369 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978369 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (7.78e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998687 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998687 ms (missed cycles : 4).[0m ×2 + 6.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265953 ms (missed cycles : 3). + 6.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.265953 ms (missed cycles : 3).[0m ×2 + 7.02sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263627 ms (missed cycles : 2). + 7.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.263627 ms (missed cycles : 2).[0m ×2 + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289376 ms (missed cycles : 3). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.289376 ms (missed cycles : 3).[0m ×2 + 9.05sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 2.007ms + 9.65sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 1.824ms + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236831 ms (missed cycles : 2). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236831 ms (missed cycles : 2).[0m ×2 + 10.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.546ms + 10.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158074 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.158074 ms (missed cycles : 2).[0m ×2 + 11.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 11.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.072ms + 12.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742133 ms (missed cycles : 3). + 12.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.742133 ms (missed cycles : 3).[0m ×2 + 12.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 12.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 12.84sINFOros2_control_nodeMuJoCo sim: 0.11% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292413 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292413 ms (missed cycles : 2).[0m ×2 + 13.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 14.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 14.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580684 ms (missed cycles : 3). + 14.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580684 ms (missed cycles : 3).[0m ×2 + 14.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 15.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099649 ms (missed cycles : 2). + 15.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.099649 ms (missed cycles : 2).[0m ×2 + 15.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 16.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994033 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.994033 ms (missed cycles : 3).[0m ×2 + 16.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 17.16sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 17.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 17.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321766 ms (missed cycles : 5). + 17.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.321766 ms (missed cycles : 5).[0m ×2 + 18.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms ×2 + 18.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 18.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737172 ms (missed cycles : 6). + 18.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.737172 ms (missed cycles : 6).[0m ×2 + 19.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 19.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.003ms + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059061 ms (missed cycles : 2). + 19.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059061 ms (missed cycles : 2).[0m ×2 + 20.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 20.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms ×3 + 20.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707736 ms (missed cycles : 3). + 20.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707736 ms (missed cycles : 3).[0m ×2 + 21.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 21.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899061 ms (missed cycles : 2). + 21.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.899061 ms (missed cycles : 2).[0m ×2 + 21.97sWARNros2_control_nodeCamera render tick took 0.62 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 + 22.00sWARNros2_control_nodeNo point cloud published (expected every 0.050 s) by: scene_camera (0.64 s); wrist_camera (0.64 s). Behaviors waiting on those points topics will time out.[0m ×2 + 22.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 22.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 23.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736566 ms (missed cycles : 2). + 23.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736566 ms (missed cycles : 2).[0m ×2 + 23.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.286ms + 24.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495931 ms (missed cycles : 3). + 24.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.495931 ms (missed cycles : 3).[0m ×2 + 24.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms ×2 + 25.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 25.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577180 ms (missed cycles : 3). + 25.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577180 ms (missed cycles : 3).[0m ×2 + 25.66sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms ×2 + 26.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.313ms + 26.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875592 ms (missed cycles : 3). + 26.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.875592 ms (missed cycles : 3).[0m ×2 + 27.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 27.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260980 ms (missed cycles : 2). + 27.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.260980 ms (missed cycles : 2).[0m ×2 + 27.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.332ms + 28.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms ×2 + 28.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016347 ms (missed cycles : 2). + 28.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.016347 ms (missed cycles : 2).[0m ×2 + 28.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 29.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.084ms + 29.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916353 ms (missed cycles : 4). + 29.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.916353 ms (missed cycles : 4).[0m ×2 + 29.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 30.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 30.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800421 ms (missed cycles : 3). + 30.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.800421 ms (missed cycles : 3).[0m ×2 + 30.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.292ms + 31.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 31.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416435 ms (missed cycles : 2). + 31.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.416435 ms (missed cycles : 2).[0m ×2 + 31.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms ×2 + 32.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.816ms + 32.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301326 ms (missed cycles : 4). + 32.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.301326 ms (missed cycles : 4).[0m ×2 + 32.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.826ms + 33.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017255 ms (missed cycles : 4). + 33.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.017255 ms (missed cycles : 4).[0m ×2 + 33.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 34.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 34.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296410 ms (missed cycles : 2). + 34.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296410 ms (missed cycles : 2).[0m ×2 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903554 ms (missed cycles : 5). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.903554 ms (missed cycles : 5).[0m ×2 + 35.80sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.80sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899638 ms (missed cycles : 2). + 36.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899638 ms (missed cycles : 2).[0m ×2 + 36.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 37.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104182 ms (missed cycles : 2). + 37.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.104182 ms (missed cycles : 2).[0m ×2 + 38.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974381 ms (missed cycles : 2). + 38.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974381 ms (missed cycles : 2).[0m ×2 + 39.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910314 ms (missed cycles : 5). + 39.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.910314 ms (missed cycles : 5).[0m ×2 + 40.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414287 ms (missed cycles : 2). + 40.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.414287 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001460 ms (missed cycles : 4). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.001460 ms (missed cycles : 4).[0m ×2 + 41.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971465 ms (missed cycles : 3). + 42.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.971465 ms (missed cycles : 3).[0m ×2 + 43.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920280 ms (missed cycles : 3). + 43.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.920280 ms (missed cycles : 3).[0m ×2 + 44.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006865 ms (missed cycles : 4). + 44.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.006865 ms (missed cycles : 4).[0m ×2 + 45.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272388 ms (missed cycles : 3). + 45.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272388 ms (missed cycles : 3).[0m ×2 + 46.05sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.309ms + 46.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502009 ms (missed cycles : 4). + 46.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502009 ms (missed cycles : 4).[0m ×2 + 48.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889675 ms (missed cycles : 4). + 48.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889675 ms (missed cycles : 4).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173445 ms (missed cycles : 5). + 49.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.173445 ms (missed cycles : 5).[0m ×2 + 49.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 50.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344652 ms (missed cycles : 3). + 50.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344652 ms (missed cycles : 3).[0m ×2 + 51.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501539 ms (missed cycles : 2). + 51.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.501539 ms (missed cycles : 2).[0m ×2 + 52.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399845 ms (missed cycles : 3). + 52.56sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 52.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399845 ms (missed cycles : 3).[0m ×2 + 53.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747775 ms (missed cycles : 2). + 53.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.747775 ms (missed cycles : 2).[0m ×2 + 54.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630438 ms (missed cycles : 3). + 54.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630438 ms (missed cycles : 3).[0m ×2 + 55.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456996 ms (missed cycles : 3). + 55.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.456996 ms (missed cycles : 3).[0m ×2 + 56.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300494 ms (missed cycles : 2). + 56.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300494 ms (missed cycles : 2).[0m ×2 + 57.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 57.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 58.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 58.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 59.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 59.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 60.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 60.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 60.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 61.40sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 61.49sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.49sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 61.59sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.59sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 61.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 61.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 61.98sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 62.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 62.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 62.41sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 62.45sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 63.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 63.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 63.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 64.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	187 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.37sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.37sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.20sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 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 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2 + 7.38sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239151 ms (missed cycles : 2). + 7.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239151 ms (missed cycles : 2).[0m ×2 + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349464 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.349464 ms (missed cycles : 3).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.579ms + 9.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409372 ms (missed cycles : 3). + 9.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409372 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.412ms + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.574ms + 11.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484872 ms (missed cycles : 3). + 11.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.484872 ms (missed cycles : 3).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.506ms + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.805ms + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.332ms + 12.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992237 ms (missed cycles : 2). + 12.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.992237 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.354ms + 13.00sINFOamclParticle filter update iteration stats: 4776 particles 723 points - 7.773ms + 13.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294585 ms (missed cycles : 2). + 13.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.294585 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 4280 particles 723 points - 6.116ms + 14.00sINFOamclParticle filter update iteration stats: 3523 particles 723 points - 5.609ms + 14.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708946 ms (missed cycles : 2). + 14.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708946 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 4.534ms + 15.00sINFOamclParticle filter update iteration stats: 2177 particles 723 points - 3.782ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801938 ms (missed cycles : 3). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.801938 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1671 particles 723 points - 3.157ms + 16.00sINFOamclParticle filter update iteration stats: 1406 particles 723 points - 2.291ms + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936979 ms (missed cycles : 3). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936979 ms (missed cycles : 3).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.870ms + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 17.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569602 ms (missed cycles : 3). + 17.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.569602 ms (missed cycles : 3).[0m ×2 + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 18.31sINFOros2_control_nodeMuJoCo sim: 1.55% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609047 ms (missed cycles : 3). + 18.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.609047 ms (missed cycles : 3).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.621ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.680ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564542 ms (missed cycles : 3). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.564542 ms (missed cycles : 3).[0m ×2 + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.137ms + 20.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767739 ms (missed cycles : 3). + 20.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767739 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.183ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 21.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842873 ms (missed cycles : 3). + 21.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.842873 ms (missed cycles : 3).[0m ×2 + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.407ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 22.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623317 ms (missed cycles : 3). + 22.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623317 ms (missed cycles : 3).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 23.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440552 ms (missed cycles : 3). + 23.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440552 ms (missed cycles : 3).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 24.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753442 ms (missed cycles : 4). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.753442 ms (missed cycles : 4).[0m ×2 + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228914 ms (missed cycles : 2). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.228914 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 27.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048587 ms (missed cycles : 2). + 27.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048587 ms (missed cycles : 2).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.141ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354015 ms (missed cycles : 3). + 28.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.354015 ms (missed cycles : 3).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680539 ms (missed cycles : 4). + 29.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.680539 ms (missed cycles : 4).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 30.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519906 ms (missed cycles : 4). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.519906 ms (missed cycles : 4).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 31.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538774 ms (missed cycles : 3). + 31.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.538774 ms (missed cycles : 3).[0m ×2 + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 32.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766025 ms (missed cycles : 3). + 32.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766025 ms (missed cycles : 3).[0m ×2 + 32.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.360ms + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401933 ms (missed cycles : 2). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.401933 ms (missed cycles : 2).[0m ×2 + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.307ms + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 34.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324088 ms (missed cycles : 2). + 34.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.324088 ms (missed cycles : 2).[0m ×2 + 34.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 35.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615782 ms (missed cycles : 6). + 35.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.615782 ms (missed cycles : 6).[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 + 36.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756936 ms (missed cycles : 2). + 36.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756936 ms (missed cycles : 2).[0m ×2 + 37.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001768 ms (missed cycles : 2). + 37.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001768 ms (missed cycles : 2).[0m ×2 + 38.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307262 ms (missed cycles : 2). + 38.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.307262 ms (missed cycles : 2).[0m ×2 + 39.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673464 ms (missed cycles : 3). + 39.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.673464 ms (missed cycles : 3).[0m ×2 + 40.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807893 ms (missed cycles : 4). + 40.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.807893 ms (missed cycles : 4).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619316 ms (missed cycles : 2). + 41.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619316 ms (missed cycles : 2).[0m ×2 + 42.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.287ms + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439499 ms (missed cycles : 3). + 42.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.439499 ms (missed cycles : 3).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554876 ms (missed cycles : 4). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.554876 ms (missed cycles : 4).[0m ×2 + 44.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393342 ms (missed cycles : 2). + 44.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.393342 ms (missed cycles : 2).[0m ×2 + 45.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186032 ms (missed cycles : 4). + 45.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.186032 ms (missed cycles : 4).[0m ×2 + 47.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461249 ms (missed cycles : 4). + 47.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.461249 ms (missed cycles : 4).[0m ×2 + 48.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304353 ms (missed cycles : 4). + 48.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.304353 ms (missed cycles : 4).[0m ×2 + 49.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489175 ms (missed cycles : 3). + 49.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.489175 ms (missed cycles : 3).[0m ×2 + 50.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 50.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516696 ms (missed cycles : 3). + 50.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516696 ms (missed cycles : 3).[0m ×2 + 51.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073837 ms (missed cycles : 4). + 51.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.073837 ms (missed cycles : 4).[0m ×2 + 52.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626271 ms (missed cycles : 2). + 52.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626271 ms (missed cycles : 2).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.273ms + 53.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348061 ms (missed cycles : 4). + 53.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.348061 ms (missed cycles : 4).[0m ×2 + 54.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747713 ms (missed cycles : 2). + 54.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.747713 ms (missed cycles : 2).[0m ×2 + 55.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608021 ms (missed cycles : 4). + 55.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.608021 ms (missed cycles : 4).[0m ×2 + 56.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741336 ms (missed cycles : 2). + 56.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.741336 ms (missed cycles : 2).[0m ×2 + 56.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.151ms + 57.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681523 ms (missed cycles : 3). + 57.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681523 ms (missed cycles : 3).[0m ×2 + 58.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615526 ms (missed cycles : 4). + 58.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615526 ms (missed cycles : 4).[0m ×2 + 59.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244674 ms (missed cycles : 5). + 59.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244674 ms (missed cycles : 5).[0m ×2 + 60.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 60.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161744 ms (missed cycles : 4). + 60.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161744 ms (missed cycles : 4).[0m ×2 + 61.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786399716.76994729 seconds ×3 + 61.53sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. ×2 + 61.53sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. ×2 + 61.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.572ms + 62.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.115ms + 62.07sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786399717.33664298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386595 ms (missed cycles : 3). + 62.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386595 ms (missed cycles : 3).[0m ×2 + 62.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.561ms + 62.48sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 62.52sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.248ms + 63.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364063 ms (missed cycles : 3). + 63.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364063 ms (missed cycles : 3).[0m ×2 + 63.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.925ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.0s	182 warnings · 166 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.10sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786399519.61105084 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.24sWARNlocal_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. + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.12) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 8.10) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.320ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.441ms + 4.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786399520.17404890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.231ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.262ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.357ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms + 7.00sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.05sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.05sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.05sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.06sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.260ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686294 ms (missed cycles : 3). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.686294 ms (missed cycles : 3).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.013ms + 7.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.228ms + 8.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.501ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.222ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697388 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.697388 ms (missed cycles : 3).[0m ×2 + 8.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.041ms + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686434 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.686434 ms (missed cycles : 3).[0m ×2 + 10.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.168ms + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390219 ms (missed cycles : 2). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.390219 ms (missed cycles : 2).[0m ×2 + 10.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.442ms + 11.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.956ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928575 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.928575 ms (missed cycles : 2).[0m ×2 + 11.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.222ms + 12.41sINFOamclParticle filter update iteration stats: 4539 particles 723 points - 8.592ms + 12.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664805 ms (missed cycles : 3). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.664805 ms (missed cycles : 3).[0m ×2 + 12.90sINFOamclParticle filter update iteration stats: 4218 particles 723 points - 5.445ms + 13.41sINFOamclParticle filter update iteration stats: 3399 particles 723 points - 4.530ms + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759432 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759432 ms (missed cycles : 3).[0m ×2 + 13.90sINFOamclParticle filter update iteration stats: 3159 particles 723 points - 5.124ms + 14.40sINFOamclParticle filter update iteration stats: 2606 particles 723 points - 3.479ms + 14.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308518 ms (missed cycles : 3). + 14.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308518 ms (missed cycles : 3).[0m ×2 + 14.90sINFOamclParticle filter update iteration stats: 2418 particles 723 points - 2.888ms + 15.40sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 2.535ms + 15.90sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.008ms + 15.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953253 ms (missed cycles : 3). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.953253 ms (missed cycles : 3).[0m ×2 + 16.40sINFOamclParticle filter update iteration stats: 1279 particles 723 points - 1.590ms + 16.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 16.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961169 ms (missed cycles : 2). + 16.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.961169 ms (missed cycles : 2).[0m ×2 + 17.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 17.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.445ms + 18.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958508 ms (missed cycles : 3). + 18.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958508 ms (missed cycles : 3).[0m ×2 + 18.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.168ms + 18.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 19.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793020 ms (missed cycles : 3). + 19.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793020 ms (missed cycles : 3).[0m ×2 + 19.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 19.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 20.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465290 ms (missed cycles : 3). + 20.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465290 ms (missed cycles : 3).[0m ×2 + 20.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 20.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 21.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446818 ms (missed cycles : 3). + 21.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.446818 ms (missed cycles : 3).[0m ×2 + 21.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 21.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786702 ms (missed cycles : 3). + 22.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.786702 ms (missed cycles : 3).[0m ×2 + 22.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 22.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms ×2 + 23.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.485ms + 23.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056032 ms (missed cycles : 4). + 23.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.056032 ms (missed cycles : 4).[0m ×2 + 23.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 24.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 24.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075153 ms (missed cycles : 4). + 24.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.075153 ms (missed cycles : 4).[0m ×2 + 24.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms ×2 + 25.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859597 ms (missed cycles : 3). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.859597 ms (missed cycles : 3).[0m ×2 + 25.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 26.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708419 ms (missed cycles : 2). + 26.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.708419 ms (missed cycles : 2).[0m ×2 + 26.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 27.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858683 ms (missed cycles : 3). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.858683 ms (missed cycles : 3).[0m ×2 + 27.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 28.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.413ms + 28.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.330ms ×2 + 29.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253322 ms (missed cycles : 4). + 29.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.253322 ms (missed cycles : 4).[0m ×2 + 29.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.228ms + 30.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545505 ms (missed cycles : 4). + 30.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545505 ms (missed cycles : 4).[0m ×2 + 30.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 30.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms ×2 + 31.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107003 ms (missed cycles : 5). + 31.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.107003 ms (missed cycles : 5).[0m ×2 + 31.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 31.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 32.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502233 ms (missed cycles : 3). + 32.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.502233 ms (missed cycles : 3).[0m ×2 + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 33.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030299 ms (missed cycles : 5). + 33.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.030299 ms (missed cycles : 5).[0m ×2 + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911555 ms (missed cycles : 2). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.911555 ms (missed cycles : 2).[0m ×2 + 35.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787544 ms (missed cycles : 2). + 35.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787544 ms (missed cycles : 2).[0m ×2 + 36.09sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540157 ms (missed cycles : 5). + 36.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.540157 ms (missed cycles : 5).[0m ×2 + 36.84sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.84sINFOobjective_server_nodePlanning for 54 path waypoints. ×3 + 37.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223796 ms (missed cycles : 4). + 37.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.223796 ms (missed cycles : 4).[0m ×2 + 38.10sINFOros2_control_nodeMuJoCo sim: 0.70% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 38.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 38.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080373 ms (missed cycles : 5). + 38.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.080373 ms (missed cycles : 5).[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.423ms + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549557 ms (missed cycles : 4). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.549557 ms (missed cycles : 4).[0m ×2 + 39.91sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.032ms + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.517ms + 40.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070883 ms (missed cycles : 3). + 40.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070883 ms (missed cycles : 3).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113262 ms (missed cycles : 4). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.113262 ms (missed cycles : 4).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 43.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443389 ms (missed cycles : 3). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.443389 ms (missed cycles : 3).[0m ×2 + 44.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920755 ms (missed cycles : 2). + 44.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920755 ms (missed cycles : 2).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.531ms + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971423 ms (missed cycles : 5). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.971423 ms (missed cycles : 5).[0m ×2 + 45.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 46.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 46.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867593 ms (missed cycles : 3). + 46.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867593 ms (missed cycles : 3).[0m ×2 + 47.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.788ms + 47.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899110 ms (missed cycles : 3). + 47.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.899110 ms (missed cycles : 3).[0m ×2 + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 48.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684201 ms (missed cycles : 5). + 48.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.684201 ms (missed cycles : 5).[0m ×2 + 48.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703431 ms (missed cycles : 4). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.703431 ms (missed cycles : 4).[0m ×2 + 49.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 50.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 50.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087781 ms (missed cycles : 3). + 50.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.087781 ms (missed cycles : 3).[0m ×2 + 51.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 51.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144986 ms (missed cycles : 4). + 51.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.144986 ms (missed cycles : 4).[0m ×2 + 52.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513829 ms (missed cycles : 3). + 52.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.513829 ms (missed cycles : 3).[0m ×2 + 54.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832281 ms (missed cycles : 2). + 54.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832281 ms (missed cycles : 2).[0m ×2 + 54.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 55.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062355 ms (missed cycles : 2). + 55.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062355 ms (missed cycles : 2).[0m ×2 + 55.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 56.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889270 ms (missed cycles : 3). + 56.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889270 ms (missed cycles : 3).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464331 ms (missed cycles : 3). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464331 ms (missed cycles : 3).[0m ×2 + 58.18sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786399573.64418602 seconds ×3 + 58.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936151 ms (missed cycles : 3). + 58.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936151 ms (missed cycles : 3).[0m ×2 + 58.24sWARNlocal_costmap.local_costmapSensor origin at (-1.88, 10.55) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.24sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 11.08) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 58.34sWARNlocal_costmap.local_costmapSensor origin at (-1.74, 9.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.34sWARNlocal_costmap.local_costmapSensor origin at (-2.49, 10.41) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.877ms + 58.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.806ms + 58.74sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786399574.20497608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.783ms + 59.21sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 59.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895634 ms (missed cycles : 3). + 59.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895634 ms (missed cycles : 3).[0m ×2 + 59.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.605ms + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.868ms + 59.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.731ms + 60.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 60.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418533 ms (missed cycles : 4). + 60.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418533 ms (missed cycles : 4).[0m ×2 + 60.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.669ms + 60.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.663ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	147 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 5.67sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.97sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.97sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213618 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213618 ms (missed cycles : 2).[0m ×2 + 7.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374293 ms (missed cycles : 3). + 7.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374293 ms (missed cycles : 3).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875623 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875623 ms (missed cycles : 2).[0m ×2 + 9.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507705 ms (missed cycles : 3). + 9.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.507705 ms (missed cycles : 3).[0m ×2 + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835039 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835039 ms (missed cycles : 2).[0m ×2 + 11.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581854 ms (missed cycles : 3). + 11.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.581854 ms (missed cycles : 3).[0m ×2 + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683004 ms (missed cycles : 3). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683004 ms (missed cycles : 3).[0m ×2 + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845667 ms (missed cycles : 2). + 13.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.845667 ms (missed cycles : 2).[0m ×2 + 14.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281854 ms (missed cycles : 2). + 14.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.281854 ms (missed cycles : 2).[0m ×2 + 15.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510899 ms (missed cycles : 3). + 15.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.510899 ms (missed cycles : 3).[0m ×2 + 17.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825799 ms (missed cycles : 2). + 17.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825799 ms (missed cycles : 2).[0m ×2 + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373493 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.373493 ms (missed cycles : 3).[0m ×2 + 19.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562665 ms (missed cycles : 3). + 19.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562665 ms (missed cycles : 3).[0m ×2 + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891071 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.891071 ms (missed cycles : 3).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1809 particles 723 points - 2.157ms + 21.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949101 ms (missed cycles : 3). + 21.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949101 ms (missed cycles : 3).[0m ×2 + 22.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373174 ms (missed cycles : 3). + 22.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373174 ms (missed cycles : 3).[0m ×2 + 23.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267186 ms (missed cycles : 3). + 23.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.267186 ms (missed cycles : 3).[0m ×2 + 24.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124929 ms (missed cycles : 3). + 24.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.124929 ms (missed cycles : 3).[0m ×2 + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211195 ms (missed cycles : 4). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.211195 ms (missed cycles : 4).[0m ×2 + 26.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991090 ms (missed cycles : 3). + 26.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.991090 ms (missed cycles : 3).[0m ×2 + 27.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015866 ms (missed cycles : 2). + 27.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.015866 ms (missed cycles : 2).[0m ×2 + 28.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753707 ms (missed cycles : 3). + 28.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.753707 ms (missed cycles : 3).[0m ×2 + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995067 ms (missed cycles : 2). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.995067 ms (missed cycles : 2).[0m ×2 + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591611 ms (missed cycles : 3). + 30.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.591611 ms (missed cycles : 3).[0m ×2 + 31.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291788 ms (missed cycles : 2). + 31.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.291788 ms (missed cycles : 2).[0m ×2 + 32.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353828 ms (missed cycles : 3). + 32.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353828 ms (missed cycles : 3).[0m ×2 + 34.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382045 ms (missed cycles : 3). + 34.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382045 ms (missed cycles : 3).[0m ×2 + 35.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857147 ms (missed cycles : 2). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.857147 ms (missed cycles : 2).[0m ×2 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695480 ms (missed cycles : 3). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695480 ms (missed cycles : 3).[0m ×2 + 37.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784113 ms (missed cycles : 3). + 37.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.784113 ms (missed cycles : 3).[0m ×2 + 38.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173448 ms (missed cycles : 3). + 38.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.173448 ms (missed cycles : 3).[0m ×2 + 39.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397545 ms (missed cycles : 3). + 39.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397545 ms (missed cycles : 3).[0m ×2 + 40.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361272 ms (missed cycles : 3). + 40.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.361272 ms (missed cycles : 3).[0m ×2 + 41.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465142 ms (missed cycles : 2). + 41.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.465142 ms (missed cycles : 2).[0m ×2 + 42.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618639 ms (missed cycles : 2). + 42.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.618639 ms (missed cycles : 2).[0m ×2 + 43.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3). + 43.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3).[0m ×2 + 44.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3). + 44.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3).[0m ×2 + 45.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3). + 45.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3).[0m ×2 + 46.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3). + 46.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3).[0m ×2 + 47.54sINFOjoint_trajectory_controllerGoal reached, success! + 47.54sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.57sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786399420.73839593 seconds ×3 + 47.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2). + 47.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2).[0m ×2 + 48.13sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786399421.29792070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2). + 48.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2).[0m ×2 + 49.21sINFOobjective_server_nodeFound path in 0 iterations (2.7103e-05 s). ×2 + 49.21sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 50.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 50.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	112 warnings · 115 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 0.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 0.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms + 1.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110606 ms (missed cycles : 3). + 1.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110606 ms (missed cycles : 3).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825643 ms (missed cycles : 2). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825643 ms (missed cycles : 2).[0m ×2 + 2.97sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.97sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786399486.87948704 seconds ×3 + 3.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702050 ms (missed cycles : 3). + 3.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702050 ms (missed cycles : 3).[0m ×2 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.57sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786399488.44077325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804300 ms (missed cycles : 2). + 4.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804300 ms (missed cycles : 2).[0m ×2 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526553 ms (missed cycles : 2). + 5.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526553 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870503 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870503 ms (missed cycles : 3).[0m ×2 + 7.25sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.33sINFOjoint_trajectory_controllerReceived new action goal + 7.33sINFOjoint_trajectory_controllerAccepted new action goal + 7.33sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.33sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672068 ms (missed cycles : 2). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672068 ms (missed cycles : 2).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387637 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387637 ms (missed cycles : 3).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.339ms + 9.68sINFOros2_control_nodeMuJoCo sim: 0.63% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.308ms + 10.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074364 ms (missed cycles : 2). + 10.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.074364 ms (missed cycles : 2).[0m ×2 + 10.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.158ms + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.955ms + 11.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912355 ms (missed cycles : 3). + 11.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.912355 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.436ms + 12.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.137ms + 12.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885124 ms (missed cycles : 3). + 12.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885124 ms (missed cycles : 3).[0m ×2 + 12.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.287ms + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.085ms + 13.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365073 ms (missed cycles : 3). + 13.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.365073 ms (missed cycles : 3).[0m ×2 + 13.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.073ms + 14.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.333ms + 14.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524370 ms (missed cycles : 3). + 14.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524370 ms (missed cycles : 3).[0m ×2 + 14.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.330ms + 15.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.313ms + 15.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.877ms + 15.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028324 ms (missed cycles : 4). + 15.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.028324 ms (missed cycles : 4).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.187ms + 16.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.106ms + 17.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.861ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698216 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698216 ms (missed cycles : 2).[0m ×2 + 17.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.464ms + 18.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.161ms + 18.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458564 ms (missed cycles : 3). + 18.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458564 ms (missed cycles : 3).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.765ms + 19.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.072ms + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231374 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.231374 ms (missed cycles : 2).[0m ×2 + 19.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.010ms + 20.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.977ms + 20.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637682 ms (missed cycles : 3). + 20.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.637682 ms (missed cycles : 3).[0m ×2 + 20.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.731ms + 21.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.554ms + 21.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382493 ms (missed cycles : 3). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.382493 ms (missed cycles : 3).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.798ms + 22.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.104ms + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354719 ms (missed cycles : 4). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.354719 ms (missed cycles : 4).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 4290 particles 723 points - 5.445ms + 23.08sINFOamclParticle filter update iteration stats: 3586 particles 723 points - 4.954ms + 23.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368319 ms (missed cycles : 3). + 23.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.368319 ms (missed cycles : 3).[0m ×2 + 23.59sINFOamclParticle filter update iteration stats: 2627 particles 723 points - 5.692ms + 24.08sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 3.160ms + 24.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668824 ms (missed cycles : 3). + 24.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.668824 ms (missed cycles : 3).[0m ×2 + 24.59sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 2.159ms + 25.09sINFOamclParticle filter update iteration stats: 1745 particles 723 points - 2.075ms + 25.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718317 ms (missed cycles : 3). + 25.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.718317 ms (missed cycles : 3).[0m ×2 + 25.59sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.990ms + 26.09sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.760ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099969 ms (missed cycles : 2). + 26.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.099969 ms (missed cycles : 2).[0m ×2 + 26.58sINFOamclParticle filter update iteration stats: 1022 particles 723 points - 1.622ms + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.728ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669123 ms (missed cycles : 4). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669123 ms (missed cycles : 4).[0m ×2 + 27.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 28.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166420 ms (missed cycles : 4). + 28.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.166420 ms (missed cycles : 4).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.782ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258331 ms (missed cycles : 2). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258331 ms (missed cycles : 2).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms ×2 + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652411 ms (missed cycles : 4). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.652411 ms (missed cycles : 4).[0m ×2 + 31.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.077ms + 31.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 31.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2). + 31.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2).[0m ×2 + 32.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 32.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4).[0m ×2 + 33.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 33.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 33.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2).[0m ×2 + 34.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 34.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4). + 34.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4).[0m ×2 + 35.74sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786399519.61105084 seconds ×3 + 35.83sWARNlocal_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. + 35.83sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 35.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2).[0m ×2 + 35.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 35.93sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.12) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 35.93sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 8.10) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 36.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.320ms + 36.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.441ms + 36.30sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786399520.17404890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 36.73sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3). + 36.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3).[0m ×2 + 36.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 37.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.231ms + 37.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.262ms + 37.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 38.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2). + 38.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2).[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.357ms + 38.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.7s	61 warnings · 136 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681523 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.681523 ms (missed cycles : 3).[0m ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615526 ms (missed cycles : 4). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.615526 ms (missed cycles : 4).[0m ×2 + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244674 ms (missed cycles : 5). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.244674 ms (missed cycles : 5).[0m ×2 + 2.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.143ms + 3.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161744 ms (missed cycles : 4). + 3.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161744 ms (missed cycles : 4).[0m ×2 + 3.77sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.77sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.82sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786399716.76994729 seconds ×3 + 3.84sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.93) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. ×2 + 3.85sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.96) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. ×2 + 4.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.572ms + 4.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.115ms + 4.39sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786399717.33664298 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.41sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.41sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386595 ms (missed cycles : 3). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386595 ms (missed cycles : 3).[0m ×2 + 4.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.561ms + 4.80sINFOobjective_server_nodeFound path in 0 iterations (4.51e-07 s). ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.86sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.86sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.86sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.248ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364063 ms (missed cycles : 3). + 5.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.364063 ms (missed cycles : 3).[0m ×2 + 5.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.925ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504919 ms (missed cycles : 3). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504919 ms (missed cycles : 3).[0m ×2 + 6.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.826ms + 7.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707527 ms (missed cycles : 3). + 7.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.707527 ms (missed cycles : 3).[0m ×2 + 8.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 8.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764458 ms (missed cycles : 3). + 8.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764458 ms (missed cycles : 3).[0m ×2 + 9.16sINFOobjective_server_nodeFound path in 0 iterations (7.93e-07 s). ×2 + 9.19sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.23sINFOobjective_server_nodeFound path in 0 iterations (3.24e-07 s). ×2 + 9.29sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.34sINFOobjective_server_nodeFound path in 0 iterations (3.34e-07 s). ×2 + 9.40sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.44sINFOobjective_server_nodeFound path in 0 iterations (3.31e-07 s). ×2 + 9.63sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.68sINFOobjective_server_nodeFound path in 0 iterations (4.23e-07 s). ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369177 ms (missed cycles : 3). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.369177 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodeFound path in 0 iterations (3.85e-07 s). ×2 + 10.14sINFOobjective_server_nodePath shortcutter: [X_____________________________________________X] ×2 + 10.22sINFOobjective_server_nodeFound path in 0 iterations (4.81e-07 s). ×2 + 10.76sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.81sINFOobjective_server_nodeFound path in 0 iterations (3.29e-07 s). ×2 + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870754 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870754 ms (missed cycles : 2).[0m ×2 + 11.30sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.55sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078477 ms (missed cycles : 3). + 11.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.078477 ms (missed cycles : 3).[0m ×2 + 13.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227698 ms (missed cycles : 2). + 13.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.227698 ms (missed cycles : 2).[0m ×2 + 13.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.911ms + 14.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 14.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3). + 14.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3).[0m ×2 + 14.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.871ms + 15.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.396ms + 15.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2).[0m ×2 + 16.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 16.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3).[0m ×2 + 17.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 17.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2). + 17.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2).[0m ×2 + 17.55sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786399730.50055599 seconds ×3 + 17.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.653ms + 17.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 18.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.558ms + 18.14sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399731.08449411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.14sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.14sINFOmove_groupClearing octomap...[0m ×2 + 18.14sINFOmove_groupOctomap cleared.[0m ×2 + 18.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 18.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3). + 18.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3).[0m ×2 + 18.71sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399731.65462637 seconds ×3 + 18.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.732ms + 18.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.218ms + 18.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 19.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.436ms + 19.27sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399732.21413660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3).[0m ×2 + 19.80sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399732.74427700 seconds ×3 + 19.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 20.04sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.922ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.5s	84 errors · 36 warnings · 382 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3).[0m ×2 + 0.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.871ms + 0.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.396ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2).[0m ×2 + 1.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3).[0m ×2 + 2.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 3.09sINFOjoint_trajectory_controllerGoal reached, success! + 3.09sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2).[0m ×2 + 3.12sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786399730.50055599 seconds ×3 + 3.13sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.13sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.653ms + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 3.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.558ms + 3.70sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399731.08449411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.71sINFOmove_groupClearing octomap...[0m ×2 + 3.71sINFOmove_groupOctomap cleared.[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 4.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3). + 4.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3).[0m ×2 + 4.28sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399731.65462637 seconds ×3 + 4.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.732ms + 4.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.218ms + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 4.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.436ms + 4.83sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399732.21413660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3).[0m ×2 + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399732.74427700 seconds ×3 + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 5.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.922ms + 6.19sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 5.437ms + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820533 ms (missed cycles : 3). + 6.82sINFOros2_control_nodeMuJoCo sim: 1.59% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820533 ms (missed cycles : 3).[0m ×2 + 7.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356502 ms (missed cycles : 3). + 7.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.356502 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311538 ms (missed cycles : 2). + 8.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311538 ms (missed cycles : 2).[0m ×2 + 9.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796727 ms (missed cycles : 3). + 9.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.796727 ms (missed cycles : 3).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412547 ms (missed cycles : 3). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.412547 ms (missed cycles : 3).[0m ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849433 ms (missed cycles : 3). + 11.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.849433 ms (missed cycles : 3).[0m ×2 + 11.82sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.82sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.83sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.84sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.86sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.86sERRORweb_video_auth_proxy-35process has died [pid 9590, 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 + 11.87sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.87sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.89sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.89sERRORweb_bridge_auth_proxy-34process has died [pid 9589, 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 + 11.89sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.90sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.91sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.91sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.92sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.93sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.94sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.95sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.96sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.98sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 12.01sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 12.05sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 12.08sINFOvideo_server-33process has finished cleanly [pid 9588] ×2 + 12.08sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 12.11sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 12.13sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 12.14sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 12.17sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 12.21sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 12.24sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 12.26sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9587] ×2 + 12.27sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 12.30sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 12.34sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 12.36sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786399739.439 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.37sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 12.38sINFOcontroller_managerShutdown request received.... + 12.38sINFOcontroller_managerShutting down all controllers in the controller manager. + 12.38sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 12.38sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 12.38sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 12.38sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 12.38sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 12.38sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 12.38sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 12.38sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 12.38sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 12.38sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 12.38sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 12.38sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 12.38sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 12.38sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 12.38sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 12.38sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 12.38sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 12.38sINFOcontroller_managerShutting down the controller manager. + 12.40sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 12.41sINFOui_teleop_bridge-30process has finished cleanly [pid 9585] ×2 + 12.41sINFOcomponent_container_mt-28process has finished cleanly [pid 9583] ×2 + 12.44sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 12.46sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 12.47sINFOexecute_objective_bridge-29process has finished cleanly [pid 9584] ×2 + 12.49sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 12.49sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9580] ×2 + 12.52sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.52sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9579] ×2 + 12.55sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.55sINFOcomponent_container_mt-27process has finished cleanly [pid 9582] ×2 + 12.55sINFOwaypoint_manager_node-23process has finished cleanly [pid 9560] ×2 + 12.57sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.57sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.57sINFOmap_serverDeactivating + 12.57sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.58sINFOparameter_manager_node-22process has finished cleanly [pid 9559] ×2 + 12.58sINFOmap_serverCleaning up + 12.58sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.58sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.60sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.60sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.60sINFOcontroller_serverDeactivating + 12.60sINFOlocal_costmap.local_costmapDeactivating + 12.60sINFOvideo_server2026/08/10 22:08:59 INF shutting down gracefully ×2 + 12.60sINFOobjective_server_node_main-26process has finished cleanly [pid 9581] ×2 + 12.60sINFOvideo_server2026/08/10 22:08:59 INF [WebRTC] closing ×2 + 12.60sINFOvideo_server2026/08/10 22:08:59 INF [RTSP] closing ×2 + 12.60sINFOvideo_server2026/08/10 22:08:59 INF waiting for running hooks ×2 + 12.60sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.60sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.60sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.60sERRORamclThe bond connection to the lifecycle manager has been broken + 12.60sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.61sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.61sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.61sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.61sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.61sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.61sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.61sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.61sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.62sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.62sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.62sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.62sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.62sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.62sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.62sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.62sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.62sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.62sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.62sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.62sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.62sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.62sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.62sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.62sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 12.62sINFOmove_groupDeleting MoveItCpp[0m ×2 + 12.62sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.62sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 12.62sINFOmove_groupStopping world geometry monitor[0m ×2 + 12.62sINFOmove_groupStopping planning scene monitor[0m ×2 + 12.62sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.63sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.63sINFOodom_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 + 12.63sINFOodom_qos_relay.pymain() ×2 + 12.63sINFOodom_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 + 12.63sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.63sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.63sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.63sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.63sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.63sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.63sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.63sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.63sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.63sINFOcontroller_serverCleaning up + 12.63sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.63sINFOlocal_costmap.local_costmapCleaning up + 12.63sINFOobjective_server_node[2026-08-10 22:08:59.900] [moveit_pro_license] [info] ×2 + 12.63sINFOobjective_server_node************************************************* ×4 + 12.63sINFOobjective_server_node* MoveIt Pro License ×2 + 12.63sINFOobjective_server_node* Application has successfully terminated ×2 + 12.63sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9468] ×2 + 12.64sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.64sINFOros2_control_nodepublish_async_failures_ 2[0m ×2 + 12.64sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.64sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.66sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9467] ×2 + 12.67sINFOmove_group-21process has finished cleanly [pid 9558] ×2 + 12.67sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.67sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.67sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.67sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.67sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.68sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.68sINFOsmoother_serverDeactivating + 12.68sINFOvelocity_smootherDeactivating + 12.68sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.68sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.69sINFOsmoother_serverCleaning up + 12.70sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.70sINFOplanner_serverDeactivating + 12.70sINFOglobal_costmap.global_costmapDeactivating + 12.74sINFOstatic_transform_publisher-4process has finished cleanly [pid 9464] ×2 + 12.75sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9466] ×2 + 12.77sINFOstatic_transform_publisher-3process has finished cleanly [pid 9463] ×2 + 12.78sERRORodom_qos_relay.py-5process has died [pid 9465, 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 + 12.80sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.80sINFOwaypoint_followerDeactivating + 12.80sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.80sERRORcomponent_container_isolated-2process has died [pid 9462, 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_yrypc9u6 --params-file /tmp/launch_params_t0sg3f21 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.91sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.91sINFObt_navigatorDeactivating + 12.91sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 13.02sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 13.02sINFObehavior_serverDeactivating + 13.02sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 13.13sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 13.13sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: planner_server ×2 + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 13.14sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 13.14sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 13.14sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.14sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 13.14sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 13.14sINFOvelocity_smootherCleaning up + 13.14sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 13.14sINFOwaypoint_followerCleaning up + 13.17sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 13.17sINFObt_navigatorCleaning up + 13.35sINFObt_navigatorCompleted Cleaning up + 13.35sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 13.35sINFObehavior_serverCleaning up + 13.40sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 13.40sERRORplanner_serverUnable to start transition 2 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.40sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 13.40sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.40sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 13.40sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 13.40sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 13.44sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 13.44sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 13.45sINFOplanner_serverCleaning up + 13.47sINFOglobal_costmap.global_costmapCleaning up + 13.47sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 13.48sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 13.51sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 13.51sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 13.51sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 13.51sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 13.51sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 13.84sERRORcomponent_container_isolated-1process has died [pid 9461, 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_yrypc9u6 --params-file /tmp/launch_params_wk19clzw -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.10sINFOros2_control_node-9process has finished cleanly [pid 9469] ×2 + 14.75sINFOweb_bridge-31process has finished cleanly [pid 9586] ×2 + 14.75sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 57 warnings · 92 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832281 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832281 ms (missed cycles : 2).[0m ×2 + 0.06sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062355 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.062355 ms (missed cycles : 2).[0m ×2 + 1.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.156ms + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889270 ms (missed cycles : 3). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.889270 ms (missed cycles : 3).[0m ×2 + 2.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464331 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.464331 ms (missed cycles : 3).[0m ×2 + 4.12sINFOjoint_trajectory_controllerGoal reached, success! + 4.12sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.14sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786399573.64418602 seconds ×3 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936151 ms (missed cycles : 3). + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.936151 ms (missed cycles : 3).[0m ×2 + 4.16sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-1.88, 10.55) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-2.61, 11.08) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 4.30sWARNlocal_costmap.local_costmapSensor origin at (-1.74, 9.91) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.30sWARNlocal_costmap.local_costmapSensor origin at (-2.49, 10.41) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.877ms + 4.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.806ms + 4.70sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786399574.20497608 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.783ms + 5.17sINFOobjective_server_nodeFound path in 0 iterations (4.08e-07 s). ×2 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895634 ms (missed cycles : 3). + 5.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.895634 ms (missed cycles : 3).[0m ×2 + 5.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.605ms + 5.57sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.868ms + 5.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.731ms + 6.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.427ms + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418533 ms (missed cycles : 4). + 6.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.418533 ms (missed cycles : 4).[0m ×2 + 6.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.669ms + 6.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.663ms + 6.91sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.97sINFOjoint_trajectory_controllerReceived new action goal + 6.97sINFOjoint_trajectory_controllerAccepted new action goal + 6.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.349ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129984 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129984 ms (missed cycles : 2).[0m ×2 + 7.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.424ms + 7.77sINFOamclParticle filter update iteration stats: 3990 particles 723 points - 5.539ms + 8.07sINFOamclParticle filter update iteration stats: 3263 particles 723 points - 5.275ms + 8.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963111 ms (missed cycles : 5). + 8.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.963111 ms (missed cycles : 5).[0m ×2 + 8.36sINFOamclParticle filter update iteration stats: 2659 particles 723 points - 3.263ms + 8.76sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 3.014ms + 9.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230943 ms (missed cycles : 4). + 9.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230943 ms (missed cycles : 4).[0m ×2 + 10.07sINFOamclParticle filter update iteration stats: 1629 particles 723 points - 3.432ms + 10.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482964 ms (missed cycles : 5). + 10.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.482964 ms (missed cycles : 5).[0m ×2 + 10.66sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 2.187ms + 11.26sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.349ms + 11.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464912 ms (missed cycles : 3). + 11.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.464912 ms (missed cycles : 3).[0m ×2 + 11.76sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 2.092ms + 12.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 12.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411482 ms (missed cycles : 3). + 12.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.411482 ms (missed cycles : 3).[0m ×2 + 12.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.675ms + 13.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 13.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 13.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420931 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420931 ms (missed cycles : 2).[0m ×2 + 14.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 14.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.028ms + 14.80sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.81sINFOjoint_trajectory_controllerGot request to cancel goal + 14.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764609 ms (missed cycles : 2). + 14.81sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.81sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.81sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764609 ms (missed cycles : 2).[0m ×2 + 14.82sERRORobjective_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: 1786399584.31931424 seconds ×3 + 14.90sWARNlocal_costmap.local_costmapSensor origin at (-0.68, 3.81) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 14.90sWARNlocal_costmap.local_costmapSensor origin at (-1.58, 3.74) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 14.96sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 3.310ms + 15.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.267ms + 15.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.426ms + 15.38sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786399584.88104844 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.67sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.309ms + 15.77sINFOobjective_server_nodeFound path in 0 iterations (6.31e-07 s). ×2 + 15.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206726 ms (missed cycles : 4). + 15.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.206726 ms (missed cycles : 4).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.342ms + 16.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.965ms + 16.57sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 5.913ms + 16.86sINFOamclParticle filter update iteration stats: 2701 particles 723 points - 4.100ms + 16.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599553 ms (missed cycles : 3). + 16.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599553 ms (missed cycles : 3).[0m ×2 + 17.16sINFOamclParticle filter update iteration stats: 1396 particles 723 points - 3.231ms + 17.46sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.8s	37 warnings · 59 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.59sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110606 ms (missed cycles : 3). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.110606 ms (missed cycles : 3).[0m ×2 + 7.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.442ms + 7.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825643 ms (missed cycles : 2). + 7.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825643 ms (missed cycles : 2).[0m ×2 + 8.38sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786399486.87948704 seconds ×3 + 8.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702050 ms (missed cycles : 3). + 8.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702050 ms (missed cycles : 3).[0m ×2 + 9.94sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786399488.44077325 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804300 ms (missed cycles : 2). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.804300 ms (missed cycles : 2).[0m ×2 + 10.37sINFOobjective_server_nodeFound path in 0 iterations (4.02e-07 s). ×2 + 11.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526553 ms (missed cycles : 2). + 11.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.526553 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	33 warnings · 58 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 0.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452342 ms (missed cycles : 3). + 0.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.452342 ms (missed cycles : 3).[0m ×2 + 0.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 1.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680551 ms (missed cycles : 5). + 1.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.680551 ms (missed cycles : 5).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 2.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 2.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100510 ms (missed cycles : 3). + 2.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.100510 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861091 ms (missed cycles : 2). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.861091 ms (missed cycles : 2).[0m ×2 + 3.71sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.71sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.76sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786399654.62128735 seconds ×3 + 3.76sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.698ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.581ms + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786399655.18225169 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 4.77sINFOjoint_trajectory_controllerReceived new action goal + 4.77sINFOjoint_trajectory_controllerAccepted new action goal + 4.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.77sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 5.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 6.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 6.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 8.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 8.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 8.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 9.21sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.61sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 10.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 10.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[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 4.844658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.78sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786399420.73839593 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786399421.29792070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (2.7103e-05 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2 + 7.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092659 ms (missed cycles : 4). + 7.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092659 ms (missed cycles : 4).[0m ×2 + 7.57sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786399424.49805403 seconds ×3 + 8.15sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786399425.07778263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978369 ms (missed cycles : 2). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978369 ms (missed cycles : 2).[0m ×2 + 8.55sINFOobjective_server_nodeFound path in 0 iterations (7.78e-07 s). ×2 + 9.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998687 ms (missed cycles : 4). + 9.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998687 ms (missed cycles : 4).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.2s	21 warnings · 52 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.911ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.871ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.396ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786399730.50055599 seconds ×3 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.653ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.558ms + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399731.08449411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.72sINFOmove_groupClearing octomap...[0m ×2 + 4.72sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399731.65462637 seconds ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.732ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.218ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.436ms + 5.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399732.21413660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399732.74427700 seconds ×3 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 6.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.922ms + 7.20sINFOamclParticle filter update iteration stats: 4890 particles 723 points - 5.437ms + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820533 ms (missed cycles : 3). + 7.83sINFOros2_control_nodeMuJoCo sim: 1.59% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.820533 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786399420.73839593 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786399421.29792070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (2.7103e-05 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	22 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	22 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	22 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	25 warnings · 37 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786399519.61105084 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sWARNlocal_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. + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.12) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 8.10) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.320ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.441ms + 4.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786399520.17404890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.231ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.262ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.357ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	21 warnings · 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 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	21 warnings · 38 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	21 warnings · 38 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	21 warnings · 38 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	21 warnings · 38 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	21 warnings · 38 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	21 warnings · 38 info
+ 0.00sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.00sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3). + 0.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.830633 ms (missed cycles : 3).[0m ×2 + 0.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.850ms + 0.37sINFOjoint_trajectory_controllerReceived new action goal + 0.37sINFOjoint_trajectory_controllerAccepted new action goal + 0.37sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.37sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.973ms + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397105 ms (missed cycles : 3).[0m ×2 + 1.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.764ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.834495 ms (missed cycles : 2).[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.198ms + 3.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3). + 3.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.137902 ms (missed cycles : 3).[0m ×2 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.916ms + 4.19sINFOjoint_trajectory_controllerGoal reached, success! + 4.20sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786399659.49240017 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.28sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.766458 ms (missed cycles : 3).[0m ×2 + 4.81sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786399660.07981396 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sINFOobjective_server_nodeFound path in 0 iterations (4.46e-07 s). ×2 + 5.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3). + 5.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.516269 ms (missed cycles : 3).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.060755 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 0.38sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 1.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.10sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.10sINFOmove_groupClearing octomap...[0m ×2 + 2.10sINFOmove_groupOctomap cleared.[0m ×2 + 2.11sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 2.67sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.68sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.99sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.99sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.99sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.99sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.99sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.99sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.01sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.01sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.01sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.01sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.02sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.02sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 4.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 4.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 4.58sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.59sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.59sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.59sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.59sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.59sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.59sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 5.67sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.67sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.97sINFOjoint_trajectory_controllerReceived new action goal + 5.97sINFOjoint_trajectory_controllerAccepted new action goal + 5.97sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.97sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213618 ms (missed cycles : 2). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213618 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844658 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.070078 ms (missed cycles : 3).[0m ×2 + 2.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3). + 2.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.767799 ms (missed cycles : 3).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.949278 ms (missed cycles : 3).[0m ×2 + 3.78sINFOjoint_trajectory_controllerGoal reached, success! + 3.78sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.81sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786399420.73839593 seconds ×3 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.83sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2).[0m ×2 + 4.37sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786399421.29792070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2). + 5.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2).[0m ×2 + 5.44sINFOobjective_server_nodeFound path in 0 iterations (2.7103e-05 s). ×2 + 5.45sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.45sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.45sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.47sINFOjoint_trajectory_controllerReceived new action goal + 5.47sINFOjoint_trajectory_controllerAccepted new action goal + 5.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_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 + 0.03sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786399420.73839593 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2). + 0.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.331258 ms (missed cycles : 2).[0m ×2 + 0.59sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786399421.29792070 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2). + 1.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.797887 ms (missed cycles : 2).[0m ×2 + 1.66sINFOobjective_server_nodeFound path in 0 iterations (2.7103e-05 s). ×2 + 1.66sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.67sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.67sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.68sINFOjoint_trajectory_controllerReceived new action goal + 1.68sINFOjoint_trajectory_controllerAccepted new action goal + 1.69sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.69sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.606280 ms (missed cycles : 3).[0m ×2 + 3.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092659 ms (missed cycles : 4). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.092659 ms (missed cycles : 4).[0m ×2 + 3.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786399424.49805403 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786399425.07778263 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978369 ms (missed cycles : 2). + 4.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978369 ms (missed cycles : 2).[0m ×2 + 4.77sINFOobjective_server_nodeFound path in 0 iterations (7.78e-07 s). ×2 + 5.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998687 ms (missed cycles : 4). + 5.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.998687 ms (missed cycles : 4).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	22 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	22 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.375602 ms (missed cycles : 3).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.090335 ms (missed cycles : 2).[0m ×2 + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329192 ms (missed cycles : 2).[0m ×2 + 3.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.836921 ms (missed cycles : 4).[0m ×2 + 3.59sINFOjoint_trajectory_controllerGoal reached, success! + 3.59sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.61sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786399482.10791802 seconds ×3 + 3.63sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.63sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.70sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.98) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.77sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.007ms + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.02, 9.25) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.80sWARNlocal_costmap.local_costmapSensor origin at (-2.92, 9.28) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.87sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.404ms + 4.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.827ms + 4.19sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786399482.68934751 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.23sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.23sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.47sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.152ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.658387 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeFound path in 0 iterations (4.43e-07 s). ×2 + 4.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.68sINFOjoint_trajectory_controllerReceived new action goal + 4.68sINFOjoint_trajectory_controllerAccepted new action goal + 4.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.388ms + 5.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.956ms + 5.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3). + 5.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.426778 ms (missed cycles : 3).[0m ×2 + 6.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.941ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	25 warnings · 37 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786399519.61105084 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sWARNlocal_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. + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.12) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 8.10) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.320ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.441ms + 4.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786399520.17404890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.231ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.262ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.357ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	25 warnings · 37 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 0.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2). + 0.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750055 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.034425 ms (missed cycles : 4).[0m ×2 + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.938213 ms (missed cycles : 2).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.140548 ms (missed cycles : 4).[0m ×2 + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.10sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.15sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786399519.61105084 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.24sWARNlocal_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. + 4.24sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.619985 ms (missed cycles : 2).[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.950ms + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-2.16, 8.12) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-3.06, 8.10) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.320ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.441ms + 4.71sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786399520.17404890 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.670ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.2e-07 s). ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.894586 ms (missed cycles : 3).[0m ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.237ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.231ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.262ms + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.340ms + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.955918 ms (missed cycles : 2).[0m ×2 + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.357ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.671ms
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.911ms + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.900ms + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3). + 1.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.059068 ms (missed cycles : 3).[0m ×2 + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.871ms + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.396ms + 2.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2). + 2.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.959438 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.483ms + 3.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3). + 3.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368045 ms (missed cycles : 3).[0m ×2 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.929ms + 4.10sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2). + 4.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.521503 ms (missed cycles : 2).[0m ×2 + 4.13sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786399730.50055599 seconds ×3 + 4.14sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.15sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.653ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.546ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.558ms + 4.72sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786399731.08449411 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.72sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.72sINFOmove_groupClearing octomap...[0m ×2 + 4.72sINFOmove_groupOctomap cleared.[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.017ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3). + 5.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630978 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786399731.65462637 seconds ×3 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.732ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.218ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.068ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.436ms + 5.85sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786399732.21413660 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.343ms + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525459 ms (missed cycles : 3).[0m ×2 + 6.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786399732.74427700 seconds ×3 + 6.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.761ms + 6.62sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.922ms
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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 · 138 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.96sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.26sINFOjoint_trajectory_controllerReceived new action goal + 7.26sINFOjoint_trajectory_controllerAccepted new action goal + 7.26sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.27sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 130 info
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440995 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440995 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOobjective_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 + 6.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.34sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 6.93sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.94sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.94sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.94sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.94sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.94sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.94sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOglobal_costmap.global_costmapstart + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440995 ms (missed cycles : 3). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.440995 ms (missed cycles : 3).[0m ×2 + 1.05sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 1.05sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 1.16sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 1.16sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 1.16sINFObehavior_serverActivating + 1.16sINFObehavior_serverActivating spin + 1.16sINFObehavior_serverActivating backup + 1.16sINFObehavior_serverActivating drive_on_heading + 1.16sINFObehavior_serverActivating assisted_teleop + 1.16sINFObehavior_serverActivating wait + 1.16sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 1.26sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 1.26sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 1.26sINFObt_navigatorActivating + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 1.32sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 1.43sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 1.43sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 1.43sINFOwaypoint_followerActivating + 1.43sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 1.53sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 1.53sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 1.53sINFOvelocity_smootherActivating + 1.53sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 1.64sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 1.64sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 1.64sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 2.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 2.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 3.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 3.90sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.90sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.45sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.45sINFOmove_groupClearing octomap...[0m ×2 + 4.45sINFOmove_groupOctomap cleared.[0m ×2 + 4.46sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 5.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.74sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 6.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.33sINFOobjective_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 + 6.33sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.34sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.34sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.34sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.34sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.34sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.34sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.34sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.36sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.36sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.36sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.36sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.37sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.37sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 6.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 6.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 129 info
+ 0.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 0.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 0.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 0.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 0.11sINFObehavior_serverActivating + 0.11sINFObehavior_serverActivating spin + 0.11sINFObehavior_serverActivating backup + 0.11sINFObehavior_serverActivating drive_on_heading + 0.11sINFObehavior_serverActivating assisted_teleop + 0.11sINFObehavior_serverActivating wait + 0.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 0.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 0.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 0.21sINFObt_navigatorActivating + 0.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4). + 0.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.276601 ms (missed cycles : 4).[0m ×2 + 0.27sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 0.38sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 0.38sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 0.38sINFOwaypoint_followerActivating + 0.38sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 0.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 0.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 0.48sINFOvelocity_smootherActivating + 0.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 0.59sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.59sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.59sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 1.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 1.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.68sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.85sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.85sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 3.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 3.39sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.40sINFOmove_groupClearing octomap...[0m ×2 + 3.40sINFOmove_groupOctomap cleared.[0m ×2 + 3.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 4.53sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.68sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 5.27sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sINFOobjective_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 + 5.28sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.28sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.28sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.28sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.29sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.29sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.30sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.31sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.31sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.31sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.31sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.32sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.88sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.89sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.89sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.89sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.89sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.89sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.89sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.89sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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 · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213618 ms (missed cycles : 2). + 7.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213618 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_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	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 115 info
+ 0.00sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 0.00sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 0.00sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.668662 ms (missed cycles : 3).[0m ×2 + 1.09sINFOros2_control_nodeMuJoCo sim: 0.64% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3). + 1.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.429184 ms (missed cycles : 3).[0m ×2 + 2.26sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3). + 2.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.322305 ms (missed cycles : 3).[0m ×2 + 2.81sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786399375.26354432 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.81sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.81sINFOmove_groupClearing octomap...[0m ×2 + 2.81sINFOmove_groupOctomap cleared.[0m ×2 + 2.82sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786399375.27382994 seconds ×3 + 3.38sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786399375.83818150 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.39sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786399375.84831476 seconds ×3 + 3.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2). + 3.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.550274 ms (missed cycles : 2).[0m ×2 + 3.95sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786399376.40208387 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786399376.55268359 seconds ×3 + 4.68sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786399377.13634014 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.70sINFOobjective_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 + 4.70sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.70sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.70sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.70sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.70sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.70sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.72sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.72sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.73sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.73sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.73sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786399377.18647981 seconds ×3 + 5.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3). + 5.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.721899 ms (missed cycles : 3).[0m ×2 + 5.29sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786399377.74705577 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.30sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.30sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.31sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.31sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.31sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.31sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3). + 6.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329909 ms (missed cycles : 3).[0m ×2 + 6.38sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.38sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.68sINFOjoint_trajectory_controllerReceived new action goal + 6.68sINFOjoint_trajectory_controllerAccepted new action goal + 6.68sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.68sINFOros2_control_nodeAccepted new action goal[0m ×2