MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

21.6s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	24.2s	12 errors · 297 warnings · 1240 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/2026-08-10-22-24-07-326374-e709bc5665e5-9369 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 8.68sINFOstatic_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' + 8.68sINFOstatic_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' + 8.79sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 8.80sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 8.82sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.82sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 8.83sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 8.83sINFOcontroller_managerupdate rate is 600 Hz + 8.83sINFOcontroller_managerOverruns handling is : enabled + 8.83sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 8.83sWARNcontroller_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. + 8.86sINFOcontroller_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. + 8.91sINFOcontroller_serverCreating controller server + 8.95sINFOlocal_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. + 8.95sINFOlocal_costmap.local_costmapCreating Costmap + 8.96sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 8.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 8.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 8.98sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.98sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 8.99sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.99sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 8.99sINFOsmoother_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. + 9.01sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 9.01sINFOsmoother_serverCreating smoother server + 9.02sINFOros2_control_node-9process started with pid [9427] ×2 + 9.02sINFOmove_group-21process started with pid [9516] ×2 + 9.02sINFOparameter_manager_node-22process started with pid [9517] ×2 + 9.02sINFOwaypoint_manager_node-23process started with pid [9518] ×2 + 9.02sINFOmove_joint_resampler_node-24process started with pid [9539] ×2 + 9.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 9.02sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 9.02sINFOmove_end_effector_resampler_node-25process started with pid [9540] ×2 + 9.02sINFOobjective_server_node_main-26process started with pid [9542] ×2 + 9.02sINFOcomponent_container_mt-27process started with pid [9543] ×2 + 9.02sINFOcomponent_container_mt-28process started with pid [9545] ×2 + 9.02sINFOexecute_objective_bridge-29process started with pid [9546] ×2 + 9.02sINFOui_teleop_bridge-30process started with pid [9547] ×2 + 9.02sINFOweb_bridge-31process started with pid [9548] ×2 + 9.02sINFOtf2_web_republisher_node-32process started with pid [9549] ×2 + 9.02sINFOvideo_server-33process started with pid [9550] ×2 + 9.02sINFOweb_bridge_auth_proxy-34process started with pid [9551] ×2 + 9.03sINFOweb_video_auth_proxy-35process started with pid [9552] ×2 + 9.03sINFOcomponent_container_isolated-1process started with pid [9419] ×2 + 9.04sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 9.04sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 9.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 9.04sINFOcomponent_container_isolated-2process started with pid [9420] ×2 + 9.04sINFOstatic_transform_publisher-3process started with pid [9421] ×2 + 9.04sINFOstatic_transform_publisher-4process started with pid [9422] ×2 + 9.04sINFOodom_qos_relay.py-5process started with pid [9423] ×2 + 9.04sINFOforward_stereo_publisher.py-6process started with pid [9424] ×2 + 9.04sINFOscan_to_scan_filter_chain-7process started with pid [9425] ×2 + 9.04sINFOscan_to_scan_filter_chain-8process started with pid [9426] ×2 + 9.04sINFOros2-10process started with pid [9505] ×2 + 9.04sINFOros2-11process started with pid [9506] ×2 + 9.04sINFOros2-12process started with pid [9507] ×2 + 9.04sINFOros2-13process started with pid [9508] ×2 + 9.04sINFOros2-14process started with pid [9509] ×2 + 9.04sINFOros2-15process started with pid [9510] ×2 + 9.04sINFOros2-16process started with pid [9511] ×2 + 9.04sINFOros2-17process started with pid [9512] ×2 + 9.04sINFOros2-18process started with pid [9513] ×2 + 9.04sINFOros2-19process started with pid [9514] ×2 + 9.04sINFOros2-20process started with pid [9515] ×2 + 9.06sINFOplanner_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. + 9.10sINFOplanner_serverCreating + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.738680 ms (missed cycles : 11). + 9.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 9.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 9.12sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.12sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 9.13sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 9.14sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 9.14sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 9.14sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 9.14sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 9.14sINFOglobal_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. + 9.14sINFOglobal_costmap.global_costmapCreating Costmap + 9.14sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.14sINFOmap_serverCreating + 9.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 9.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 9.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 9.16sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 9.16sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 9.16sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 9.16sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 9.16sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.16sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 9.16sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 9.16sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 9.16sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 9.16sWARNros2_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 + 9.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 17.738680 ms (missed cycles : 11).[0m ×2 + 9.17sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.19sINFObehavior_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. + 9.19sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 9.22sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 9.22sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 9.22sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 9.22sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 9.23sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 9.23sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 9.23sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 9.23sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.24sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.24sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.24sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 9.25sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.25sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.25sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 9.26sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 9.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 9.26sINFOlifecycle_manager_localizationCreating + 9.28sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 9.28sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 9.31sINFObt_navigatorCreating + 9.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 9.32sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 9.32sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 9.32sINFOmap_serverConfiguring + 9.32sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 9.32sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.32sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 9.35sINFOwaypoint_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. + 9.35sINFOrobot_state_publisherRobot initialized + 9.35sINFOcontroller_managerReceived robot description from topic. + 9.35sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 9.35sINFOcomponent_container_mtRobot initialized[0m ×2 + 9.36sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 9.36sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 9.36sINFOwaypoint_followerCreating + 9.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 9.37sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 9.37sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 9.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 9.39sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 9.39sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 9.39sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 9.39sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.39sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 9.41sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 9.41sINFOamclConfiguring + 9.41sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 9.41sINFOmap_serverActivating + 9.42sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 9.43sINFOvelocity_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. + 9.44sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 9.45sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 9.45sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.45sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 9.45sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 9.46sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 9.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 9.48sINFOlifecycle_manager_navigationCreating + 9.48sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 9.49sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 9.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 9.50sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 9.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 9.52sINFOlifecycle_manager_localizationServer map_server connected with bond. + 9.52sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 9.52sINFOamclActivating + 9.52sINFOamclSubscribed to initial_pose_topic: /initialpose + 9.52sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 9.53sINFOamclSubscribed to map_topic: /map + 9.53sINFOamclSubscribed to scan_topic: /scan_merged + 9.53sINFOamclCreated reinitialize_global_localization service + 9.53sINFOamclCreated request_nomotion_update service + 9.53sINFOamclA new map was received + 9.53sINFOamclInitializing particle filter instance + 9.55sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 9.55sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 9.55sINFOcontroller_serverConfiguring controller interface + 9.55sINFOcontroller_servergetting progress checker plugins.. + 9.55sINFOcontroller_servergetting goal checker plugins.. + 9.55sINFOcontroller_serverController frequency set to 20.0000Hz + 9.55sINFOlocal_costmap.local_costmapConfiguring + 9.55sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 9.58sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 9.60sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 9.60sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 9.60sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 9.64sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 9.64sINFOcontroller_serverController Server has progress_checker progress checkers available. + 9.65sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 9.65sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 9.66sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 9.69sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 9.69sWARNlaser_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. + 9.69sWARNlaser_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. + 9.70sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 9.70sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 9.70sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 9.70sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 9.70sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 9.70sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 9.70sWARNscan_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 + 9.71sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 9.71sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 9.71sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 9.71sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 9.72sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 9.72sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 9.72sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 9.72sINFOcontroller_serverOptimizer reset ×2 + 9.73sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.451028 seconds + 9.74sINFOmove_groupLoaded robot model in 0.451028 seconds[0m ×2 + 9.76sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 9.76sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 9.76sINFOcontroller_serverController Server has FollowPath controllers available. + 9.76sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 9.76sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 9.76sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 9.76sINFOsmoother_serverConfiguring smoother server + 9.79sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 9.80sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 9.80sINFOamclParticle filter initialization completed + 9.80sINFOamclInitializing particles from estimated pose and covariance + 9.80sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 9.81sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 9.81sINFOplanner_serverConfiguring + 9.81sINFOvideo_server2026/08/10 22:24:19 INF MediaMTX v1.19.3, linux, amd64 ×2 + 9.81sINFOglobal_costmap.global_costmapConfiguring + 9.81sINFOvideo_server2026/08/10 22:24:19 INF configuration loaded from /tmp/moveit-webrtc-ptkmai08/mediamtx.yml ×2 + 9.81sINFOvideo_server2026/08/10 22:24:19 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 9.81sINFOvideo_server2026/08/10 22:24:19 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 9.82sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 9.82sINFOlifecycle_manager_localizationServer amcl connected with bond. + 9.82sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 9.82sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 9.83sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 9.85sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 9.85sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 9.86sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 9.90sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 9.90sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 9.90sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 9.90sINFOamclThe bond connection to the lifecycle manager is now fully formed + 9.94sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 9.95sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 9.95sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 9.95sINFOplanner_serverPlanner Server has GridBased planners available. + 10.00sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 10.00sINFObehavior_serverConfiguring + 10.03sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 10.03sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 10.03sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 10.03sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 10.04sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 10.06sINFObehavior_serverConfiguring spin + 10.06sINFOwaypoint_manager_nodeLoaded robot model in 0.400172 seconds[0m ×2 + 10.06sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 10.06sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 10.07sINFObehavior_serverConfiguring backup + 10.09sINFObehavior_serverConfiguring drive_on_heading + 10.10sINFObehavior_serverConfiguring assisted_teleop + 10.12sINFObehavior_serverConfiguring wait + 10.14sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 10.14sINFObt_navigatorConfiguring + 10.14sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 10.16sWARNbt_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 + 10.45sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 10.45sWARNmove_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. + 10.45sWARNmove_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. + 10.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.45sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 10.45sWARNmove_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. + 10.45sWARNmove_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. + 10.45sWARNmove_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. + 10.46sWARNmove_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. + 10.46sWARNmove_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. + 10.46sWARNmove_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. + 10.46sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.46sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.46sWARNmove_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 + 10.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828769 ms (missed cycles : 3). + 10.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.828769 ms (missed cycles : 3).[0m ×2 + 10.50sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 10.58sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 10.58sINFOwaypoint_followerConfiguring + 10.60sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 10.61sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 10.61sINFOvelocity_smootherConfiguring velocity smoother + 10.63sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 10.63sINFOcontroller_serverActivating + 10.63sINFOlocal_costmap.local_costmapActivating + 10.63sINFOlocal_costmap.local_costmapChecking transform + 10.63sINFOlocal_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. ×3 + 10.80sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 10.80sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 10.80sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 10.80sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 10.85sWARNwaypoint_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. + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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 + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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. + 10.86sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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 + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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. + 10.87sWARNwaypoint_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 + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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. + 10.88sWARNwaypoint_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 + 10.88sWARNwaypoint_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. + 10.89sWARNwaypoint_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 + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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. + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.90sWARNwaypoint_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 + 10.92sINFOmove_group[2026-08-10 22:24:20.753] [moveit_pro_license] [info] ×2 + 10.92sINFOmove_group************************************************* ×4 + 10.92sINFOmove_group* MoveIt Pro License ×2 + 10.92sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 10.95sINFOspawner_joint_state_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 10.96sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 11.23sINFOwaypoint_manager_node[2026-08-10 22:24:21.060] [moveit_pro_license] [info] ×2 + 11.23sINFOwaypoint_manager_node************************************************* ×4 + 11.23sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 11.23sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.26sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 11.26sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 11.26sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 11.26sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 11.26sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 11.26sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 11.26sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 11.26sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 11.26sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.26sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 11.27sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 11.27sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 11.27sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 11.27sINFOmove_groupStarting planning scene monitor[0m ×2 + 11.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 11.27sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 11.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 11.27sINFOmove_groupListening to '/planning_scene'[0m ×2 + 11.27sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 11.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 11.27sINFOmove_groupListening to 'collision_object'[0m ×2 + 11.27sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 11.48sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 11.49sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 11.49sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 11.51sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 11.51sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 11.52sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 11.52sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 11.52sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 11.52sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 11.52sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 11.52sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 11.52sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 11.52sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 11.52sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 11.52sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 11.52sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 11.52sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 11.52sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 11.52sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 11.52sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 11.52sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 11.52sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 11.52sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 11.52sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 11.52sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 11.54sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.54sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 11.55sWARNros2_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 + 11.71sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 11.71sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 11.71sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 11.71sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 11.72sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 11.72sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 11.73sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 11.74sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 11.74sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 11.75sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 11.75sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 11.75sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 11.75sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 11.76sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 11.76sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 11.76sINFOcontroller_managerSuccessfully switched controllers! ×8 + 11.76sINFOros2_control_nodeSuccessfully switched controllers![0m ×16 + 11.76sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 11.76sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 11.77sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 11.77sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 11.77sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.77sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 11.78sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 11.79sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 11.79sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 11.79sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 11.79sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 11.79sINFOstreaming_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) + 11.79sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 11.79sINFOcomponent_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 + 11.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 11.79sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 11.79sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 11.83sINFOobjective_server_node[2026-08-10 22:24:21.662] [moveit_pro_license] [info] ×2 + 11.83sINFOobjective_server_node************************************************* ×4 + 11.83sINFOobjective_server_node* MoveIt Pro License ×2 + 11.83sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286129 ms (missed cycles : 2). + 11.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.286129 ms (missed cycles : 2).[0m ×2 + 11.89sINFOobjective_server_nodeLoaded robot model in 0.0184456 seconds[0m ×2 + 11.89sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 11.89sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 11.93sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.93sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 11.94sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.94sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 11.95sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 11.95sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 11.95sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 11.95sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 11.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 11.96sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 3.564ms + 11.97sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 11.97sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 11.97sINFOstreaming_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) + 11.97sINFOcomponent_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 + 11.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 12.07sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 12.07sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 12.07sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 12.07sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 12.10sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.10sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 12.10sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.10sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 12.12sWARNcomponent_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 + 12.13sINFOlocal_costmap.local_costmapstart + 12.13sINFOros2-12process has finished cleanly [pid 9507] ×2 + 12.17sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 12.17sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 12.18sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 12.18sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 12.18sWARNobjective_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. + 12.18sWARNobjective_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. + 12.18sWARNobjective_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 + 12.18sWARNobjective_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 + 12.18sWARNobjective_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. + 12.18sWARNobjective_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. + 12.18sWARNobjective_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 + 12.18sWARNobjective_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 + 12.18sWARNobjective_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. + 12.18sWARNobjective_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. + 12.18sWARNobjective_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 + 12.18sWARNobjective_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 + 12.18sWARNobjective_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. + 12.19sWARNobjective_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. + 12.19sWARNobjective_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 + 12.19sWARNobjective_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 + 12.19sWARNobjective_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. + 12.19sWARNobjective_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. + 12.19sWARNobjective_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 + 12.19sWARNobjective_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 + 12.23sWARNcontroller_serverParameter controller_server.verbose not found + 12.23sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 12.23sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 12.24sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 12.24sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 12.24sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 12.24sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 12.26sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 12.26sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 12.26sINFOobjective_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 + 12.26sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 12.28sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 12.28sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 12.28sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 12.28sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 12.28sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 12.28sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 12.28sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 12.30sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 12.34sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 12.34sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 12.34sINFOsmoother_serverActivating + 12.34sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 12.42sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 12.42sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 12.44sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 12.44sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 12.44sINFOplanner_serverActivating + 12.44sINFOglobal_costmap.global_costmapActivating + 12.44sINFOglobal_costmap.global_costmapChecking transform + 12.44sINFOglobal_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 1786400662.252539 but the earliest data is at time 1786400662.666397, when looking up transform from frame [ridgeback_base_link] to frame [map] + 12.53sINFOcomponent_container_mtLoaded robot model in 0.411304 seconds[0m ×2 + 12.53sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 12.53sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 12.54sINFOros2_control_node[2026-08-10 22:24:22.366] [info] Controller state will be published at 20 Hz. ×2 + 12.54sINFOros2_control_node[2026-08-10 22:24:22.367] [info] JointVelocityController 'on_configure' succeeded. ×2 + 12.66sINFOmove_groupMoveGroup debug mode is ON + 12.66sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 12.66sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 12.69sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 12.69sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 12.70sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 12.70sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 12.70sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 12.70sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 12.70sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 12.73sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 12.75sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786400661.466 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNplanning_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. + 12.76sWARNcomponent_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 + 12.76sWARNcomponent_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 + 12.76sWARNcomponent_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 + 12.76sWARNplanning_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. + 12.76sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNcomponent_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 + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.77sWARNplanning_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. + 12.77sWARNcomponent_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 + 12.77sWARNplanning_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. + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNplanning_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. + 12.78sWARNcomponent_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 + 12.78sWARNcomponent_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 + 12.78sWARNplanning_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. + 12.78sWARNcomponent_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 + 12.78sWARNplanning_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. + 12.78sINFOmove_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 ****************************************************** + 12.78sWARNcomponent_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 + 12.78sINFOmove_group ×8 + 12.78sINFOmove_group****************************************************** ×4 + 12.78sINFOmove_group* MoveGroup using: ×2 + 12.78sINFOmove_group* - apply_planning_scene_service ×2 + 12.78sINFOmove_group* - clear_octomap_service ×2 + 12.78sINFOmove_group* - get_group_urdf ×2 + 12.78sINFOmove_group* - load_geometry_from_file ×2 + 12.78sINFOmove_group* - get_planning_scene_service ×2 + 12.78sINFOmove_group* - kinematics_service ×2 + 12.78sINFOmove_group* - save_geometry_to_file ×2 + 12.78sINFOmove_group* - GetPlanningGroups ×2 + 12.78sINFOmove_group* - URDFPlanningSceneCapability ×2 + 12.78sINFOmove_group[0m ×2 + 12.78sINFOmove_group[92mYou can start planning now![0m ×2 + 12.86sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 12.86sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 12.86sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 12.86sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 12.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853795 ms (missed cycles : 2). + 12.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853795 ms (missed cycles : 2).[0m ×2 + 12.94sINFOros2-19process has finished cleanly [pid 9514] ×2 + 12.94sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 12.94sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 12.94sINFOglobal_costmap.global_costmapstart + 12.95sINFOcomponent_container_mt[2026-08-10 22:24:22.783] [moveit_pro_license] [info] ×2 + 12.95sINFOcomponent_container_mt************************************************* ×4 + 12.95sINFOcomponent_container_mt* MoveIt Pro License ×2 + 12.95sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 13.00sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 13.00sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 13.00sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 13.00sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 13.24sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 13.24sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 13.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 13.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 13.26sINFOros2_control_node[2026-08-10 22:24:23.091] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 13.26sINFOros2_control_node[2026-08-10 22:24:23.093] [info] Controller state will be published at 10 Hz. ×2 + 13.26sINFOros2_control_node[2026-08-10 22:24:23.094] [info] VelocityForceController 'on_configure' succeeded. ×2 + 13.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 13.38sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 13.57sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 13.58sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 13.58sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 13.58sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 13.58sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 13.58sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 13.61sINFOros2-18process has finished cleanly [pid 9513] ×2 + 13.64sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 13.64sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.65sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 13.65sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 13.65sINFOforce_torque_sensor_broadcasterconfigure successful + 13.65sINFOros2_control_nodeconfigure successful[0m ×6 + 13.66sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 13.66sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 13.66sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 13.66sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 13.73sWARNobjective_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 + 13.91sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 13.97sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 13.97sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 13.98sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 13.98sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 13.98sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 13.98sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 13.98sINFOros2-10process has finished cleanly [pid 9505] ×2 + 14.00sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 14.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197642 ms (missed cycles : 2). + 14.00sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 14.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197642 ms (missed cycles : 2).[0m ×2 + 14.07sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 14.07sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 14.07sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 14.07sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 14.07sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 14.07sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 14.07sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 14.07sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 14.07sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 14.07sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 14.07sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 14.08sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 14.08sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 14.08sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 14.08sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 14.11sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 14.11sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 14.11sINFObehavior_serverActivating + 14.11sINFObehavior_serverActivating spin + 14.11sINFObehavior_serverActivating backup + 14.11sINFObehavior_serverActivating drive_on_heading + 14.11sINFObehavior_serverActivating assisted_teleop + 14.11sINFObehavior_serverActivating wait + 14.11sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 14.21sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 14.21sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 14.21sINFObt_navigatorActivating + 14.26sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 14.36sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 14.36sINFOcontroller_managerLoading controller 'velocity_force_controller' + 14.36sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 14.36sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 14.36sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 14.36sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 14.37sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 14.37sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 14.37sINFOwaypoint_followerActivating + 14.37sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 14.40sINFOros2-16process has finished cleanly [pid 9511] ×2 + 14.43sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 14.43sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 14.44sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 14.44sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 14.48sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 14.48sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 14.48sINFOvelocity_smootherActivating + 14.48sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 14.58sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 14.58sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 14.58sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 14.69sINFOros2_control_node[2026-08-10 22:24:24.519] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 14.69sINFOros2_control_node[2026-08-10 22:24:24.521] [info] Controller state will be published at 10 Hz. ×2 + 14.69sINFOros2_control_node[2026-08-10 22:24:24.522] [info] VelocityForceController 'on_configure' succeeded. ×2 + 14.96sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 14.96sINFOcontroller_managerLoading controller 'vacuum_gripper' + 14.96sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 14.96sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 14.96sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 14.96sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 14.98sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 14.98sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 14.99sINFOros2-17process has finished cleanly [pid 9512] ×2 + 15.01sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 15.01sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 15.01sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 15.01sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 15.01sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 15.02sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 15.02sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 15.02sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 15.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837028 ms (missed cycles : 3). + 15.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.837028 ms (missed cycles : 3).[0m ×2 + 15.02sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 15.03sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 15.36sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 15.36sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 15.36sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 15.36sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 15.37sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 15.37sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 15.37sINFOros2-14process has finished cleanly [pid 9509] ×2 + 15.42sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 15.42sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 15.43sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 15.43sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 15.43sINFOplatform_velocity_controllerconfigure successful + 15.44sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 15.44sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 15.44sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 15.44sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 15.77sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 15.77sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 15.77sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 15.77sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 15.77sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 15.77sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 15.77sINFOros2-13process has finished cleanly [pid 9508] ×2 + 15.83sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 15.83sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 15.83sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 15.83sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 15.84sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 15.84sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 15.84sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 15.84sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 16.17sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 16.17sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 16.17sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 16.17sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 16.17sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 16.17sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 16.20sINFOros2-11process has finished cleanly [pid 9506] ×2 + 16.23sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 16.24sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 16.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934856 ms (missed cycles : 2). + 16.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.934856 ms (missed cycles : 2).[0m ×2 + 16.25sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 16.25sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 16.50sINFOros2_control_node[2026-08-10 22:24:26.329] [info] Controller state will be published at 20 Hz. ×2 + 16.50sINFOros2_control_node[2026-08-10 22:24:26.330] [info] JointVelocityController 'on_configure' succeeded. ×2 + 16.85sINFOros2-20process has finished cleanly [pid 9515] ×2 + 16.85sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 16.85sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 16.85sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h + 16.85sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 16.85sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 16.85sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_qbsjkft6 --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_65vqb8k7 --params-file /tmp/launch_params_fn4yzl6h [0m ×2 + 16.91sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 16.91sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 16.91sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 16.91sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 16.91sINFOplatform_velocity_controller_nav2configure successful + 17.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 17.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 17.25sINFOros2-15process has finished cleanly [pid 9510] ×2 + 17.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993847 ms (missed cycles : 2). + 17.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.993847 ms (missed cycles : 2).[0m ×2 + 18.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 18.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 19.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 20.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 20.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 21.55sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 22.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 22.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 22.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 22.29sINFOmove_groupClearing octomap...[0m ×2 + 22.30sINFOmove_groupOctomap cleared.[0m ×2 + 22.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 22.85sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 22.86sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 23.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 23.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 23.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 24.11sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.12sINFOobjective_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 + 24.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 24.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 24.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 24.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 24.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 24.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 24.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 24.16sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.16sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 24.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 24.16sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 24.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 24.17sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 24.71sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 24.72sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 24.72sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 24.72sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 24.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 24.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 24.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 24.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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	72.7s	3 errors · 231 warnings · 211 info
+ 0.00sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 4.849ms + 0.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754581 ms (missed cycles : 2). + 0.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754581 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 3.065ms + 1.00sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.192ms + 1.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775877 ms (missed cycles : 2). + 1.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775877 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.700ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 2.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545641 ms (missed cycles : 3). + 2.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545641 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 3.42sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.42sINFOjoint_trajectory_controllerGot request to cancel goal + 3.42sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.42sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.42sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.45sERRORobjective_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: 1786400877.64701891 seconds ×3 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms ×3 + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.022ms + 3.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094629 ms (missed cycles : 2). + 3.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094629 ms (missed cycles : 2).[0m ×2 + 4.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786400878.19191957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.977ms + 4.02sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.02sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 4.36sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.041ms + 4.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019473 ms (missed cycles : 2). + 4.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019473 ms (missed cycles : 2).[0m ×2 + 4.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.778ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.988ms + 5.66sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 5.70sINFOjoint_trajectory_controllerReceived new action goal ×5 + 5.70sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 5.70sINFOros2_control_nodeReceived new action goal[0m ×10 + 5.70sINFOros2_control_nodeAccepted new action goal[0m ×10 + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.966ms + 5.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992083 ms (missed cycles : 2). + 5.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992083 ms (missed cycles : 2).[0m ×2 + 6.10sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 5.062ms + 6.40sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 2.663ms + 6.70sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.036ms + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.754512 ms (missed cycles : 2).[0m ×2 + 7.20sINFOamclParticle filter update iteration stats: 1161 particles 723 points - 1.438ms + 7.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914475 ms (missed cycles : 2). + 7.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.914475 ms (missed cycles : 2).[0m ×2 + 8.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.238ms + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.823ms ×2 + 9.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319530 ms (missed cycles : 2). + 9.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.319530 ms (missed cycles : 2).[0m ×2 + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 10.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294838 ms (missed cycles : 2). + 10.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294838 ms (missed cycles : 2).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.761ms + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.676ms + 11.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611525 ms (missed cycles : 2). + 11.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611525 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839593 ms (missed cycles : 2). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.839593 ms (missed cycles : 2).[0m ×2 + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086520 ms (missed cycles : 2). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.086520 ms (missed cycles : 2).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 14.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361000 ms (missed cycles : 3). + 14.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361000 ms (missed cycles : 3).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 15.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361645 ms (missed cycles : 2). + 15.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.361645 ms (missed cycles : 2).[0m ×2 + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 16.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168721 ms (missed cycles : 2). + 16.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.168721 ms (missed cycles : 2).[0m ×2 + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.791ms + 17.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.810ms + 17.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356500 ms (missed cycles : 2). + 17.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356500 ms (missed cycles : 2).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.837ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400874 ms (missed cycles : 2). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.400874 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.758ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.861ms + 20.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773064 ms (missed cycles : 3). + 20.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.773064 ms (missed cycles : 3).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.710ms + 21.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 21.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967258 ms (missed cycles : 2). + 21.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967258 ms (missed cycles : 2).[0m ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms ×2 + 22.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 22.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046198 ms (missed cycles : 2). + 22.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.046198 ms (missed cycles : 2).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.747ms + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 23.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250603 ms (missed cycles : 2). + 23.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.250603 ms (missed cycles : 2).[0m ×2 + 24.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763485 ms (missed cycles : 2). + 24.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.763485 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.705ms + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.796ms + 25.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038368 ms (missed cycles : 2). + 25.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.038368 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 26.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641262 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641262 ms (missed cycles : 3).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.704ms ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 27.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877644 ms (missed cycles : 2). + 27.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.877644 ms (missed cycles : 2).[0m ×2 + 28.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.739ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245104 ms (missed cycles : 2). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.245104 ms (missed cycles : 2).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.745ms + 29.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034834 ms (missed cycles : 2). + 29.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034834 ms (missed cycles : 2).[0m ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 30.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.785ms ×2 + 30.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335551 ms (missed cycles : 3). + 30.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.335551 ms (missed cycles : 3).[0m ×2 + 31.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 31.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562561 ms (missed cycles : 2). + 31.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562561 ms (missed cycles : 2).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 32.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967219 ms (missed cycles : 2). + 32.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.967219 ms (missed cycles : 2).[0m ×2 + 33.01sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 33.01sINFOros2_control_nodeGoal reached, success![0m ×8 + 33.21sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 33.89sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 33.89sINFOobjective_server_nodePlanning for 36 path waypoints. ×6 + 34.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880424 ms (missed cycles : 2). + 34.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.880424 ms (missed cycles : 2).[0m ×2 + 35.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805287 ms (missed cycles : 3). + 35.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805287 ms (missed cycles : 3).[0m ×2 + 36.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119605 ms (missed cycles : 3). + 36.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.119605 ms (missed cycles : 3).[0m ×2 + 36.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.815ms + 37.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563800 ms (missed cycles : 2). + 37.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.563800 ms (missed cycles : 2).[0m ×2 + 37.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.835ms + 37.21sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 38.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.688ms + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199629 ms (missed cycles : 2). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199629 ms (missed cycles : 2).[0m ×2 + 38.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 38.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.731ms + 39.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064739 ms (missed cycles : 2). + 39.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.064739 ms (missed cycles : 2).[0m ×2 + 39.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 40.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248420 ms (missed cycles : 2). + 40.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.248420 ms (missed cycles : 2).[0m ×2 + 41.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997820 ms (missed cycles : 2). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.997820 ms (missed cycles : 2).[0m ×2 + 42.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132433 ms (missed cycles : 2). + 42.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.132433 ms (missed cycles : 2).[0m ×2 + 42.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 43.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928310 ms (missed cycles : 2). + 43.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.928310 ms (missed cycles : 2).[0m ×2 + 44.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.660ms + 44.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590297 ms (missed cycles : 2). + 44.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.590297 ms (missed cycles : 2).[0m ×2 + 45.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.662ms + 45.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105379 ms (missed cycles : 2). + 45.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.105379 ms (missed cycles : 2).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms ×2 + 46.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350641 ms (missed cycles : 3). + 46.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350641 ms (missed cycles : 3).[0m ×2 + 46.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 47.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515801 ms (missed cycles : 3). + 47.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.515801 ms (missed cycles : 3).[0m ×2 + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629152 ms (missed cycles : 3). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.629152 ms (missed cycles : 3).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.677ms + 49.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424341 ms (missed cycles : 2). + 49.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424341 ms (missed cycles : 2).[0m ×2 + 50.21sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459786 ms (missed cycles : 3). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.459786 ms (missed cycles : 3).[0m ×2 + 52.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362553 ms (missed cycles : 2). + 52.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362553 ms (missed cycles : 2).[0m ×2 + 53.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329229 ms (missed cycles : 2). + 53.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.329229 ms (missed cycles : 2).[0m ×2 + 54.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.775ms + 54.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749208 ms (missed cycles : 2). + 54.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.749208 ms (missed cycles : 2).[0m ×2 + 55.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947952 ms (missed cycles : 2). + 55.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947952 ms (missed cycles : 2).[0m ×2 + 56.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.819ms + 56.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052919 ms (missed cycles : 2). + 56.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.052919 ms (missed cycles : 2).[0m ×2 + 57.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 57.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988922 ms (missed cycles : 2). + 57.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988922 ms (missed cycles : 2).[0m ×2 + 59.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.717ms + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225998 ms (missed cycles : 2). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.225998 ms (missed cycles : 2).[0m ×2 + 60.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733328 ms (missed cycles : 2). + 60.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733328 ms (missed cycles : 2).[0m ×2 + 61.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 61.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492569 ms (missed cycles : 2). + 61.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.492569 ms (missed cycles : 2).[0m ×2 + 62.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216832 ms (missed cycles : 2). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.216832 ms (missed cycles : 2).[0m ×2 + 63.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770521 ms (missed cycles : 2). + 63.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770521 ms (missed cycles : 2).[0m ×2 + 63.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 64.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066205 ms (missed cycles : 2). + 64.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.066205 ms (missed cycles : 2).[0m ×2 + 65.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236976 ms (missed cycles : 2). + 65.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236976 ms (missed cycles : 2).[0m ×2 + 66.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.613ms + 66.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126823 ms (missed cycles : 2). + 66.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.126823 ms (missed cycles : 2).[0m ×2 + 67.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616208 ms (missed cycles : 2). + 67.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.616208 ms (missed cycles : 2).[0m ×2 + 67.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.614ms + 68.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 68.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887494 ms (missed cycles : 3). + 68.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887494 ms (missed cycles : 3).[0m ×2 + 69.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 69.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049274 ms (missed cycles : 2). + 69.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.049274 ms (missed cycles : 2).[0m ×2 + 70.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.734ms + 70.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170027 ms (missed cycles : 2). + 70.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170027 ms (missed cycles : 2).[0m ×2 + 71.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 71.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105842 ms (missed cycles : 2). + 71.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.105842 ms (missed cycles : 2).[0m ×2 + 72.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 72.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958514 ms (missed cycles : 2). + 72.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958514 ms (missed cycles : 2).[0m ×2 + 73.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 73.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514309 ms (missed cycles : 2). + 73.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514309 ms (missed cycles : 2).[0m ×2 + 74.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 75.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640793 ms (missed cycles : 2). + 75.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640793 ms (missed cycles : 2).[0m ×2 + 75.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 76.14sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786400950.33207178 seconds ×3 + 76.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827681 ms (missed cycles : 2). + 76.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827681 ms (missed cycles : 2).[0m ×2 + 76.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.649ms + 76.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786400950.87515712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 77.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.121ms + 77.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871232 ms (missed cycles : 2). + 77.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871232 ms (missed cycles : 2).[0m ×2 + 78.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 78.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 78.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 79.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 79.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 79.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	56.4s	179 warnings · 162 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786400717.50304699 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786400718.04636598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (1.9281e-05 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.32sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.32sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.32sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.32sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786400720.91651964 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786400721.46407270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323952 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323952 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048827 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048827 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381051 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381051 ms (missed cycles : 2).[0m ×2 + 7.40sINFOamclParticle filter update iteration stats: 1375 particles 723 points - 1.498ms + 7.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288375 ms (missed cycles : 2). + 7.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288375 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.154ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687352 ms (missed cycles : 2). + 8.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687352 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 9.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms ×2 + 9.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776711 ms (missed cycles : 2). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.776711 ms (missed cycles : 2).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 10.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812468 ms (missed cycles : 2). + 10.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.812468 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.080ms + 11.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935791 ms (missed cycles : 2). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.935791 ms (missed cycles : 2).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 13.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554191 ms (missed cycles : 3). + 13.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.554191 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 13.90sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 14.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038974 ms (missed cycles : 2). + 14.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.038974 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.795ms + 15.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256425 ms (missed cycles : 2). + 15.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.256425 ms (missed cycles : 2).[0m ×2 + 15.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.757ms + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 16.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677790 ms (missed cycles : 2). + 16.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.677790 ms (missed cycles : 2).[0m ×2 + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.797ms + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.772ms + 17.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725593 ms (missed cycles : 2). + 17.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.725593 ms (missed cycles : 2).[0m ×2 + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.818ms + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 18.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930110 ms (missed cycles : 2). + 18.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.930110 ms (missed cycles : 2).[0m ×2 + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.725ms + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.735ms ×3 + 19.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226972 ms (missed cycles : 2). + 19.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.226972 ms (missed cycles : 2).[0m ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.722ms + 20.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883403 ms (missed cycles : 2). + 20.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883403 ms (missed cycles : 2).[0m ×2 + 21.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.724ms ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 21.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031186 ms (missed cycles : 2). + 21.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.031186 ms (missed cycles : 2).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.668ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.832ms + 23.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832658 ms (missed cycles : 2). + 23.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832658 ms (missed cycles : 2).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.711ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 24.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964234 ms (missed cycles : 2). + 24.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964234 ms (missed cycles : 2).[0m ×2 + 24.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170288 ms (missed cycles : 2). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170288 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.880ms + 26.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 26.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957732 ms (missed cycles : 2). + 26.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957732 ms (missed cycles : 2).[0m ×2 + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.653ms + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.738ms + 27.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295330 ms (missed cycles : 2). + 27.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295330 ms (missed cycles : 2).[0m ×2 + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.914ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491604 ms (missed cycles : 2). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.491604 ms (missed cycles : 2).[0m ×2 + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.694ms + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.811ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936392 ms (missed cycles : 2). + 29.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.936392 ms (missed cycles : 2).[0m ×2 + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.774ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.657ms + 30.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981625 ms (missed cycles : 2). + 30.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.981625 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.689ms + 31.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980290 ms (missed cycles : 2). + 31.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.980290 ms (missed cycles : 2).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.786ms + 32.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579750 ms (missed cycles : 2). + 32.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.579750 ms (missed cycles : 2).[0m ×2 + 33.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315269 ms (missed cycles : 2). + 33.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315269 ms (missed cycles : 2).[0m ×2 + 34.21sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 34.21sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 34.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 34.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034326 ms (missed cycles : 2). + 34.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.034326 ms (missed cycles : 2).[0m ×2 + 35.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109686 ms (missed cycles : 2). + 35.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.109686 ms (missed cycles : 2).[0m ×2 + 37.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913236 ms (missed cycles : 2). + 37.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.913236 ms (missed cycles : 2).[0m ×2 + 38.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360592 ms (missed cycles : 3). + 38.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.360592 ms (missed cycles : 3).[0m ×2 + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709364 ms (missed cycles : 2). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709364 ms (missed cycles : 2).[0m ×2 + 40.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394914 ms (missed cycles : 3). + 40.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.394914 ms (missed cycles : 3).[0m ×2 + 41.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397814 ms (missed cycles : 3). + 41.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.397814 ms (missed cycles : 3).[0m ×2 + 42.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917166 ms (missed cycles : 2). + 42.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917166 ms (missed cycles : 2).[0m ×2 + 43.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095007 ms (missed cycles : 2). + 43.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.095007 ms (missed cycles : 2).[0m ×2 + 44.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947770 ms (missed cycles : 2). + 44.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.947770 ms (missed cycles : 2).[0m ×2 + 45.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633671 ms (missed cycles : 2). + 45.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.633671 ms (missed cycles : 2).[0m ×2 + 46.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265093 ms (missed cycles : 2). + 46.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265093 ms (missed cycles : 2).[0m ×2 + 47.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137277 ms (missed cycles : 2). + 47.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137277 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.702ms + 48.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239292 ms (missed cycles : 2). + 48.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.239292 ms (missed cycles : 2).[0m ×2 + 49.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199379 ms (missed cycles : 2). + 49.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.199379 ms (missed cycles : 2).[0m ×2 + 50.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373209 ms (missed cycles : 2). + 50.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.373209 ms (missed cycles : 2).[0m ×2 + 50.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.720ms + 51.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966309 ms (missed cycles : 2). + 51.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.966309 ms (missed cycles : 2).[0m ×2 + 52.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584086 ms (missed cycles : 2). + 52.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584086 ms (missed cycles : 2).[0m ×2 + 54.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647165 ms (missed cycles : 2). + 54.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647165 ms (missed cycles : 2).[0m ×2 + 55.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734905 ms (missed cycles : 3). + 55.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734905 ms (missed cycles : 3).[0m ×2 + 55.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890213 ms (missed cycles : 2). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890213 ms (missed cycles : 2).[0m ×2 + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 58.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 58.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 59.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 59.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 59.79sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 59.87sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.87sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 60.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 60.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 60.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 60.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 60.34sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 60.64sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 60.66sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 61.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 61.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 62.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 62.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 62.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	56.0s	179 warnings · 135 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.65sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal ×3 + 4.72sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 4.72sINFOros2_control_nodeReceived new action goal[0m ×6 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2 + 6.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984494 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.984494 ms (missed cycles : 2).[0m ×2 + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.025ms + 7.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.392ms + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103346 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103346 ms (missed cycles : 2).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.756ms + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.633ms + 8.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645796 ms (missed cycles : 2). + 8.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.645796 ms (missed cycles : 2).[0m ×2 + 8.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.377ms + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.134ms + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952252 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.952252 ms (missed cycles : 2).[0m ×2 + 9.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.021ms + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.103ms + 10.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.163ms + 10.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384116 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.384116 ms (missed cycles : 2).[0m ×2 + 11.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.039ms + 11.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.498ms + 11.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771805 ms (missed cycles : 2). + 11.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.771805 ms (missed cycles : 2).[0m ×2 + 12.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.639ms + 12.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.242ms + 12.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343938 ms (missed cycles : 3). + 12.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343938 ms (missed cycles : 3).[0m ×2 + 13.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.714ms + 13.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.280ms + 13.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069016 ms (missed cycles : 2). + 13.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069016 ms (missed cycles : 2).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.314ms + 14.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.995ms + 14.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472777 ms (missed cycles : 2). + 14.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472777 ms (missed cycles : 2).[0m ×2 + 15.10sINFOamclParticle filter update iteration stats: 4000 particles 723 points - 4.851ms + 15.60sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 3.919ms + 15.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000393 ms (missed cycles : 2). + 15.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.000393 ms (missed cycles : 2).[0m ×2 + 16.09sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.288ms + 16.59sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.577ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774693 ms (missed cycles : 2). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.774693 ms (missed cycles : 2).[0m ×2 + 17.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 17.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.217ms + 17.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675527 ms (missed cycles : 2). + 17.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675527 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.104ms + 18.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.041ms + 19.01sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 19.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720661 ms (missed cycles : 2). + 19.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.720661 ms (missed cycles : 2).[0m ×2 + 19.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms + 19.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.160ms + 20.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 20.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809329 ms (missed cycles : 2). + 20.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.809329 ms (missed cycles : 2).[0m ×2 + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.833ms + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 21.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626268 ms (missed cycles : 2). + 21.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.626268 ms (missed cycles : 2).[0m ×2 + 21.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.903ms + 22.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 22.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838388 ms (missed cycles : 2). + 22.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.838388 ms (missed cycles : 2).[0m ×2 + 22.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 23.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 23.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 23.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640622 ms (missed cycles : 2). + 23.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640622 ms (missed cycles : 2).[0m ×2 + 24.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.937ms + 24.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299847 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299847 ms (missed cycles : 2).[0m ×2 + 25.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 25.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 25.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599663 ms (missed cycles : 2). + 25.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.599663 ms (missed cycles : 2).[0m ×2 + 26.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 26.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms + 26.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974391 ms (missed cycles : 2). + 26.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.974391 ms (missed cycles : 2).[0m ×2 + 27.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 27.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.670ms + 27.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906450 ms (missed cycles : 2). + 27.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.906450 ms (missed cycles : 2).[0m ×2 + 28.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.896ms + 28.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 28.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041372 ms (missed cycles : 2). + 28.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.041372 ms (missed cycles : 2).[0m ×2 + 29.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.870ms + 29.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 29.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647988 ms (missed cycles : 2). + 29.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647988 ms (missed cycles : 2).[0m ×2 + 30.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 30.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.106ms + 30.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485606 ms (missed cycles : 2). + 30.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.485606 ms (missed cycles : 2).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.050ms + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162810 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.162810 ms (missed cycles : 2).[0m ×2 + 33.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 33.13sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 33.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016250 ms (missed cycles : 2). + 33.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016250 ms (missed cycles : 2).[0m ×2 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128628 ms (missed cycles : 2). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128628 ms (missed cycles : 2).[0m ×2 + 35.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703335 ms (missed cycles : 2). + 35.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.703335 ms (missed cycles : 2).[0m ×2 + 36.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894252 ms (missed cycles : 2). + 36.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.894252 ms (missed cycles : 2).[0m ×2 + 37.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320068 ms (missed cycles : 2). + 37.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.320068 ms (missed cycles : 2).[0m ×2 + 38.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979177 ms (missed cycles : 2). + 38.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979177 ms (missed cycles : 2).[0m ×2 + 38.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 39.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198975 ms (missed cycles : 2). + 39.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.198975 ms (missed cycles : 2).[0m ×2 + 40.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129417 ms (missed cycles : 2). + 40.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.129417 ms (missed cycles : 2).[0m ×2 + 41.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808074 ms (missed cycles : 2). + 41.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.808074 ms (missed cycles : 2).[0m ×2 + 42.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502996 ms (missed cycles : 2). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.502996 ms (missed cycles : 2).[0m ×2 + 43.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739528 ms (missed cycles : 2). + 43.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.739528 ms (missed cycles : 2).[0m ×2 + 44.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354035 ms (missed cycles : 2). + 44.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.354035 ms (missed cycles : 2).[0m ×2 + 46.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052909 ms (missed cycles : 2). + 46.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.052909 ms (missed cycles : 2).[0m ×2 + 46.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.124ms + 47.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924569 ms (missed cycles : 3). + 47.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.924569 ms (missed cycles : 3).[0m ×2 + 48.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819729 ms (missed cycles : 3). + 48.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.819729 ms (missed cycles : 3).[0m ×2 + 49.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074524 ms (missed cycles : 2). + 49.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074524 ms (missed cycles : 2).[0m ×2 + 50.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 50.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671643 ms (missed cycles : 2). + 50.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.671643 ms (missed cycles : 2).[0m ×2 + 51.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435369 ms (missed cycles : 2). + 51.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.435369 ms (missed cycles : 2).[0m ×2 + 52.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137205 ms (missed cycles : 2). + 52.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.137205 ms (missed cycles : 2).[0m ×2 + 53.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662252 ms (missed cycles : 2). + 53.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.662252 ms (missed cycles : 2).[0m ×2 + 53.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.904ms + 54.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336766 ms (missed cycles : 3). + 54.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.336766 ms (missed cycles : 3).[0m ×2 + 55.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214427 ms (missed cycles : 2). + 55.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214427 ms (missed cycles : 2).[0m ×2 + 56.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525047 ms (missed cycles : 2). + 56.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525047 ms (missed cycles : 2).[0m ×2 + 57.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 57.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868275 ms (missed cycles : 2). + 57.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868275 ms (missed cycles : 2).[0m ×2 + 58.72sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786401011.11694026 seconds ×3 + 58.76sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 58.76sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 58.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.249ms + 59.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483316 ms (missed cycles : 3). + 59.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483316 ms (missed cycles : 3).[0m ×2 + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.265ms + 59.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786401011.66633821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.991ms + 59.55sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 59.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 60.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684275 ms (missed cycles : 2). + 60.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684275 ms (missed cycles : 2).[0m ×2 + 61.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916261 ms (missed cycles : 2). + 61.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916261 ms (missed cycles : 2).[0m ×2 + 61.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.244ms
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	53.7s	175 warnings · 168 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.25sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.25sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786400813.18170428 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.773ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.580ms + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786400813.72536850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.594ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.454ms + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms + 5.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal ×3 + 5.10sINFOjoint_trajectory_controllerAccepted new action goal ×3 + 5.10sINFOros2_control_nodeReceived new action goal[0m ×6 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×6 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms + 6.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234534 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.234534 ms (missed cycles : 2).[0m ×2 + 7.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.902ms + 7.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715023 ms (missed cycles : 2). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.715023 ms (missed cycles : 2).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.828ms + 8.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.539ms + 8.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115914 ms (missed cycles : 2). + 9.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.115914 ms (missed cycles : 2).[0m ×2 + 9.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.508ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.947ms + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309023 ms (missed cycles : 2). + 10.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.309023 ms (missed cycles : 2).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.749ms + 10.70sINFOamclParticle filter update iteration stats: 4208 particles 723 points - 3.752ms + 11.20sINFOamclParticle filter update iteration stats: 4021 particles 723 points - 3.616ms + 11.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048367 ms (missed cycles : 2). + 11.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048367 ms (missed cycles : 2).[0m ×2 + 11.70sINFOamclParticle filter update iteration stats: 3326 particles 723 points - 3.291ms + 12.20sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 2.750ms + 12.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918086 ms (missed cycles : 2). + 12.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.918086 ms (missed cycles : 2).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 2.860ms + 13.20sINFOamclParticle filter update iteration stats: 2481 particles 723 points - 3.123ms + 13.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834816 ms (missed cycles : 3). + 13.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834816 ms (missed cycles : 3).[0m ×2 + 13.70sINFOamclParticle filter update iteration stats: 2575 particles 723 points - 2.066ms + 14.20sINFOamclParticle filter update iteration stats: 2763 particles 723 points - 2.244ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106709 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.106709 ms (missed cycles : 2).[0m ×2 + 14.70sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 2.595ms + 15.20sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 3.068ms + 15.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027500 ms (missed cycles : 2). + 15.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.027500 ms (missed cycles : 2).[0m ×2 + 15.70sINFOamclParticle filter update iteration stats: 2617 particles 723 points - 2.523ms + 16.20sINFOamclParticle filter update iteration stats: 2387 particles 723 points - 2.417ms + 16.70sINFOamclParticle filter update iteration stats: 2019 particles 723 points - 2.273ms + 16.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462700 ms (missed cycles : 2). + 16.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.462700 ms (missed cycles : 2).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1830 particles 723 points - 1.942ms + 17.70sINFOamclParticle filter update iteration stats: 1587 particles 723 points - 1.468ms + 17.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785732 ms (missed cycles : 2). + 17.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.785732 ms (missed cycles : 2).[0m ×2 + 18.20sINFOamclParticle filter update iteration stats: 1215 particles 723 points - 1.485ms + 18.70sINFOamclParticle filter update iteration stats: 1076 particles 723 points - 1.310ms + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835742 ms (missed cycles : 2). + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835742 ms (missed cycles : 2).[0m ×2 + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 20.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123939 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123939 ms (missed cycles : 2).[0m ×2 + 20.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 21.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299439 ms (missed cycles : 2). + 21.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.299439 ms (missed cycles : 2).[0m ×2 + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.839ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 22.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077203 ms (missed cycles : 2). + 22.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.077203 ms (missed cycles : 2).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.764ms + 23.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797822 ms (missed cycles : 2). + 23.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.797822 ms (missed cycles : 2).[0m ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.706ms ×2 + 24.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817512 ms (missed cycles : 2). + 24.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817512 ms (missed cycles : 2).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.655ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.729ms + 25.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155249 ms (missed cycles : 2). + 25.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155249 ms (missed cycles : 2).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.737ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.672ms + 26.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774118 ms (missed cycles : 2). + 26.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774118 ms (missed cycles : 2).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.647ms ×2 + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.767ms + 27.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129415 ms (missed cycles : 2). + 27.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129415 ms (missed cycles : 2).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.802ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368873 ms (missed cycles : 3). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.368873 ms (missed cycles : 3).[0m ×2 + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 29.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650059 ms (missed cycles : 2). + 29.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.650059 ms (missed cycles : 2).[0m ×2 + 30.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.723ms + 30.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973320 ms (missed cycles : 2). + 30.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.973320 ms (missed cycles : 2).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 32.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686133 ms (missed cycles : 2). + 32.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.686133 ms (missed cycles : 2).[0m ×2 + 33.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185154 ms (missed cycles : 2). + 33.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185154 ms (missed cycles : 2).[0m ×2 + 33.45sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 34.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542414 ms (missed cycles : 2). + 34.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.542414 ms (missed cycles : 2).[0m ×2 + 34.10sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 34.10sINFOobjective_server_nodePlanning for 55 path waypoints. ×3 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985112 ms (missed cycles : 3). + 35.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.778ms + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.985112 ms (missed cycles : 3).[0m ×2 + 36.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.801ms + 36.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999887 ms (missed cycles : 2). + 36.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999887 ms (missed cycles : 2).[0m ×2 + 36.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.830ms + 37.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 37.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268364 ms (missed cycles : 2). + 37.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268364 ms (missed cycles : 2).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms ×2 + 37.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.654ms + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.657ms + 38.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841307 ms (missed cycles : 2). + 38.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.841307 ms (missed cycles : 2).[0m ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 39.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.766ms + 39.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317385 ms (missed cycles : 2). + 39.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.317385 ms (missed cycles : 2).[0m ×2 + 40.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562526 ms (missed cycles : 3). + 40.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562526 ms (missed cycles : 3).[0m ×2 + 41.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733367 ms (missed cycles : 2). + 41.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733367 ms (missed cycles : 2).[0m ×2 + 41.51sINFOros2_control_nodeMuJoCo sim: 0.03% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 42.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770371 ms (missed cycles : 2). + 42.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770371 ms (missed cycles : 2).[0m ×2 + 42.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.887ms + 43.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 43.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131218 ms (missed cycles : 2). + 43.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131218 ms (missed cycles : 2).[0m ×2 + 43.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.744ms + 44.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524780 ms (missed cycles : 2). + 44.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524780 ms (missed cycles : 2).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 45.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.748ms + 45.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764318 ms (missed cycles : 2). + 45.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764318 ms (missed cycles : 2).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.848ms + 46.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424428 ms (missed cycles : 2). + 46.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.424428 ms (missed cycles : 2).[0m ×2 + 47.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.793ms + 47.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338970 ms (missed cycles : 2). + 47.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.338970 ms (missed cycles : 2).[0m ×2 + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.619ms + 48.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841243 ms (missed cycles : 2). + 48.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.841243 ms (missed cycles : 2).[0m ×2 + 49.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.675ms + 49.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302870 ms (missed cycles : 2). + 49.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.302870 ms (missed cycles : 2).[0m ×2 + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.781ms + 51.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988378 ms (missed cycles : 2). + 51.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.988378 ms (missed cycles : 2).[0m ×2 + 51.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 52.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116080 ms (missed cycles : 2). + 52.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116080 ms (missed cycles : 2).[0m ×2 + 53.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498835 ms (missed cycles : 2). + 53.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.498835 ms (missed cycles : 2).[0m ×2 + 53.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 54.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647699 ms (missed cycles : 2). + 54.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647699 ms (missed cycles : 2).[0m ×2 + 55.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859766 ms (missed cycles : 2). + 55.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859766 ms (missed cycles : 2).[0m ×2 + 55.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 56.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018512 ms (missed cycles : 2). + 56.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018512 ms (missed cycles : 2).[0m ×2 + 56.96sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786400866.84550953 seconds ×3 + 57.07sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.65) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 57.07sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 57.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.140ms + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789485 ms (missed cycles : 3). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789485 ms (missed cycles : 3).[0m ×2 + 57.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.656ms + 57.50sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786400867.39264512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 57.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 57.79sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 58.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.196ms + 58.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.095ms + 58.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840214 ms (missed cycles : 2). + 58.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840214 ms (missed cycles : 2).[0m ×2 + 58.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 58.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 58.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.809ms + 59.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.855ms + 59.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895573 ms (missed cycles : 2). + 59.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895573 ms (missed cycles : 2).[0m ×2 + 59.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.635ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.5s	144 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.02sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.02sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236398 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236398 ms (missed cycles : 2).[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969012 ms (missed cycles : 2). + 7.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.969012 ms (missed cycles : 2).[0m ×2 + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110367 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110367 ms (missed cycles : 2).[0m ×2 + 9.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533139 ms (missed cycles : 2). + 9.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.533139 ms (missed cycles : 2).[0m ×2 + 10.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937783 ms (missed cycles : 2). + 10.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.937783 ms (missed cycles : 2).[0m ×2 + 11.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315545 ms (missed cycles : 2). + 11.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.315545 ms (missed cycles : 2).[0m ×2 + 12.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166302 ms (missed cycles : 2). + 12.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.166302 ms (missed cycles : 2).[0m ×2 + 13.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953425 ms (missed cycles : 2). + 13.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953425 ms (missed cycles : 2).[0m ×2 + 14.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985196 ms (missed cycles : 2). + 14.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.985196 ms (missed cycles : 2).[0m ×2 + 15.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029362 ms (missed cycles : 2). + 15.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.029362 ms (missed cycles : 2).[0m ×2 + 17.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517496 ms (missed cycles : 2). + 17.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517496 ms (missed cycles : 2).[0m ×2 + 18.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697768 ms (missed cycles : 2). + 18.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697768 ms (missed cycles : 2).[0m ×2 + 19.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936865 ms (missed cycles : 2). + 19.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.936865 ms (missed cycles : 2).[0m ×2 + 19.77sINFOamclParticle filter update iteration stats: 1798 particles 723 points - 1.632ms + 20.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813905 ms (missed cycles : 2). + 20.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813905 ms (missed cycles : 2).[0m ×2 + 21.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912952 ms (missed cycles : 2). + 21.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.912952 ms (missed cycles : 2).[0m ×2 + 22.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735718 ms (missed cycles : 2). + 22.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735718 ms (missed cycles : 2).[0m ×2 + 23.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929095 ms (missed cycles : 2). + 23.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.929095 ms (missed cycles : 2).[0m ×2 + 24.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293312 ms (missed cycles : 2). + 24.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.293312 ms (missed cycles : 2).[0m ×2 + 25.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810903 ms (missed cycles : 2). + 25.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.810903 ms (missed cycles : 2).[0m ×2 + 26.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698244 ms (missed cycles : 2). + 26.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.698244 ms (missed cycles : 2).[0m ×2 + 27.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021131 ms (missed cycles : 2). + 27.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.021131 ms (missed cycles : 2).[0m ×2 + 29.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724993 ms (missed cycles : 2). + 29.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.724993 ms (missed cycles : 2).[0m ×2 + 30.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034493 ms (missed cycles : 2). + 30.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034493 ms (missed cycles : 2).[0m ×2 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767485 ms (missed cycles : 2). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767485 ms (missed cycles : 2).[0m ×2 + 32.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687568 ms (missed cycles : 2). + 32.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.687568 ms (missed cycles : 2).[0m ×2 + 33.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615873 ms (missed cycles : 2). + 33.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.615873 ms (missed cycles : 2).[0m ×2 + 34.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332286 ms (missed cycles : 2). + 34.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.332286 ms (missed cycles : 2).[0m ×2 + 35.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165489 ms (missed cycles : 2). + 35.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.165489 ms (missed cycles : 2).[0m ×2 + 36.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118584 ms (missed cycles : 2). + 36.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.118584 ms (missed cycles : 2).[0m ×2 + 37.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874839 ms (missed cycles : 2). + 37.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.874839 ms (missed cycles : 2).[0m ×2 + 38.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983500 ms (missed cycles : 2). + 38.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.983500 ms (missed cycles : 2).[0m ×2 + 40.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217758 ms (missed cycles : 2). + 40.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217758 ms (missed cycles : 2).[0m ×2 + 41.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726102 ms (missed cycles : 2). + 41.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.726102 ms (missed cycles : 2).[0m ×2 + 42.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959061 ms (missed cycles : 2). + 42.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.959061 ms (missed cycles : 2).[0m ×2 + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2).[0m ×2 + 44.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2). + 44.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2).[0m ×2 + 45.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2). + 45.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2).[0m ×2 + 46.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2). + 46.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2).[0m ×2 + 46.67sINFOjoint_trajectory_controllerGoal reached, success! + 46.67sINFOros2_control_nodeGoal reached, success![0m ×2 + 46.68sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786400717.50304699 seconds ×3 + 47.22sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786400718.04636598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 47.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2). + 47.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2).[0m ×2 + 47.96sINFOobjective_server_nodeFound path in 0 iterations (1.9281e-05 s). ×2 + 47.97sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 47.98sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 48.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2). + 48.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2).[0m ×2 + 49.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 49.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	30.4s	104 warnings · 121 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 0.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792661 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792661 ms (missed cycles : 2).[0m ×2 + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.395ms + 1.90sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 1.90sINFOros2_control_nodeGoal reached, success![0m ×4 + 1.93sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786400781.82257414 seconds ×3 + 2.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756393 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756393 ms (missed cycles : 2).[0m ×2 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437281 ms (missed cycles : 3). + 3.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437281 ms (missed cycles : 3).[0m ×2 + 3.48sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786400783.37156057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.50sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.75sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 4.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072063 ms (missed cycles : 2). + 4.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072063 ms (missed cycles : 2).[0m ×2 + 4.84sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.88sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.88sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.88sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.88sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136081 ms (missed cycles : 2). + 5.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136081 ms (missed cycles : 2).[0m ×2 + 6.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236499 ms (missed cycles : 2). + 6.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236499 ms (missed cycles : 2).[0m ×2 + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.401ms + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713106 ms (missed cycles : 2). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.713106 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.270ms + 8.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.484ms + 8.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436569 ms (missed cycles : 2). + 8.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436569 ms (missed cycles : 2).[0m ×2 + 9.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.994ms + 9.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.935ms + 9.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034656 ms (missed cycles : 2). + 9.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034656 ms (missed cycles : 2).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.783ms + 10.50sINFOamclParticle filter update iteration stats: 4993 particles 723 points - 4.686ms + 10.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2). + 10.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.362380 ms (missed cycles : 2).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 4094 particles 723 points - 4.600ms + 11.49sINFOamclParticle filter update iteration stats: 3669 particles 723 points - 4.200ms + 11.50sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 2993 particles 723 points - 3.185ms + 12.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816957 ms (missed cycles : 2). + 12.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.816957 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 3.135ms + 13.00sINFOamclParticle filter update iteration stats: 2146 particles 723 points - 2.219ms + 13.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677080 ms (missed cycles : 2). + 13.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.677080 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 2188 particles 723 points - 2.020ms + 14.00sINFOamclParticle filter update iteration stats: 2040 particles 723 points - 1.936ms + 14.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478158 ms (missed cycles : 2). + 14.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.478158 ms (missed cycles : 2).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 1.970ms + 15.00sINFOamclParticle filter update iteration stats: 2009 particles 723 points - 1.864ms + 15.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912918 ms (missed cycles : 2). + 15.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912918 ms (missed cycles : 2).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 1.868ms + 16.00sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.128ms + 16.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253578 ms (missed cycles : 2). + 16.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.253578 ms (missed cycles : 2).[0m ×2 + 16.49sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 1.373ms + 16.99sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.154ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms + 17.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769507 ms (missed cycles : 2). + 17.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.769507 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 18.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469833 ms (missed cycles : 2). + 18.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.469833 ms (missed cycles : 2).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.860ms + 19.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459105 ms (missed cycles : 2). + 19.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.459105 ms (missed cycles : 2).[0m ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.805ms + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.780ms + 20.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514649 ms (missed cycles : 2). + 20.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514649 ms (missed cycles : 2).[0m ×2 + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.759ms + 21.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350993 ms (missed cycles : 2). + 21.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.350993 ms (missed cycles : 2).[0m ×2 + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.770ms + 22.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425121 ms (missed cycles : 2). + 22.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.425121 ms (missed cycles : 2).[0m ×2 + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 23.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890103 ms (missed cycles : 2). + 23.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890103 ms (missed cycles : 2).[0m ×2 + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.845ms + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 25.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161877 ms (missed cycles : 2). + 25.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.161877 ms (missed cycles : 2).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.697ms + 25.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms ×2 + 26.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886804 ms (missed cycles : 2). + 26.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.886804 ms (missed cycles : 2).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.746ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 27.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566682 ms (missed cycles : 2). + 27.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.566682 ms (missed cycles : 2).[0m ×2 + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.693ms + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.760ms + 28.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654110 ms (missed cycles : 3). + 28.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.654110 ms (missed cycles : 3).[0m ×2 + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.863ms + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.749ms + 29.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345844 ms (missed cycles : 2). + 29.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.345844 ms (missed cycles : 2).[0m ×2 + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.700ms + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 30.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2). + 30.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2).[0m ×2 + 30.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 31.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2). + 31.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2).[0m ×2 + 32.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2). + 32.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2).[0m ×2 + 32.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 33.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786400813.18170428 seconds ×3 + 33.36sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 33.36sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 33.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.773ms + 33.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3). + 33.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3).[0m ×2 + 33.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.580ms + 33.83sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786400813.72536850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 34.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 34.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 34.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.594ms + 34.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.454ms + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2).[0m ×2 + 34.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms + 35.05sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 35.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 35.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2). + 35.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2).[0m ×2 + 36.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	12.6s	53 warnings · 134 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214427 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.214427 ms (missed cycles : 2).[0m ×2 + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525047 ms (missed cycles : 2). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525047 ms (missed cycles : 2).[0m ×2 + 1.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 2.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868275 ms (missed cycles : 2). + 2.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.868275 ms (missed cycles : 2).[0m ×2 + 2.85sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 2.86sINFOros2_control_nodeGoal reached, success![0m ×6 + 2.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786401011.11694026 seconds ×3 + 2.87sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 2.88sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 2.91sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.95) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.249ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483316 ms (missed cycles : 3). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483316 ms (missed cycles : 3).[0m ×2 + 3.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.265ms + 3.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786401011.66633821 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.991ms + 3.70sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 3.72sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.73sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.73sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.73sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.73sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684275 ms (missed cycles : 2). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.684275 ms (missed cycles : 2).[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916261 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.916261 ms (missed cycles : 2).[0m ×2 + 5.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.244ms + 6.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170270 ms (missed cycles : 2). + 6.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.170270 ms (missed cycles : 2).[0m ×2 + 6.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.568ms + 7.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053521 ms (missed cycles : 2). + 7.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.053521 ms (missed cycles : 2).[0m ×2 + 7.84sINFOobjective_server_nodeFound path in 0 iterations (3.7e-07 s). ×2 + 7.86sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 7.88sINFOobjective_server_nodeFound path in 0 iterations (3.3e-07 s). ×6 + 7.93sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 8.00sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 8.04sINFOobjective_server_nodeFound path in 0 iterations (3.1e-07 s). ×2 + 8.16sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 8.39sINFOobjective_server_nodeFound path in 31 iterations (0.0202216 s). ×2 + 8.64sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X_______X] ×2 + 8.68sINFOobjective_server_nodeFound path in 0 iterations (3.5e-07 s). ×2 + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096641 ms (missed cycles : 2). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.096641 ms (missed cycles : 2).[0m ×2 + 8.97sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 9.00sINFOobjective_server_nodeFound path in 0 iterations (4.6e-07 s). ×2 + 9.24sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 9.42sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 10.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080798 ms (missed cycles : 2). + 10.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.080798 ms (missed cycles : 2).[0m ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463513 ms (missed cycles : 2). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.463513 ms (missed cycles : 2).[0m ×2 + 11.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.945ms ×2 + 11.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.516ms + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026692 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026692 ms (missed cycles : 2).[0m ×2 + 12.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.230ms + 13.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 13.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2). + 13.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2).[0m ×2 + 13.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 14.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2). + 14.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2).[0m ×2 + 15.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2). + 15.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2).[0m ×2 + 15.42sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786401023.66770697 seconds ×3 + 15.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.561ms + 15.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 16.00sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786401024.24975705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 16.00sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 16.00sINFOmove_groupClearing octomap...[0m ×2 + 16.00sINFOmove_groupOctomap cleared.[0m ×2 + 16.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.174ms + 16.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2). + 16.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2).[0m ×2 + 16.50sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786401024.74990988 seconds ×3 + 16.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.128ms + 16.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.734ms + 16.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.842ms + 17.04sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786401025.28837347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 17.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.583ms + 17.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.375ms + 17.38sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786401025.62850595 seconds ×3 + 17.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2). + 17.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2).[0m ×2 + 17.61sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 17.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.083ms + 17.94sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 18.54sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.0s	94 errors · 30 warnings · 400 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 0.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2). + 0.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.945ms + 2.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2).[0m ×2 + 2.25sINFOjoint_trajectory_controllerGoal reached, success! + 2.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.27sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786401023.66770697 seconds ×3 + 2.29sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.561ms + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 2.86sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786401024.24975705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.86sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.86sINFOmove_groupClearing octomap...[0m ×2 + 2.86sINFOmove_groupOctomap cleared.[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.174ms + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2).[0m ×2 + 3.36sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786401024.74990988 seconds ×3 + 3.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.128ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.734ms + 3.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.842ms + 3.90sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786401025.28837347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.583ms + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.375ms + 4.24sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786401025.62850595 seconds ×3 + 4.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2). + 4.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2).[0m ×2 + 4.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.083ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570900 ms (missed cycles : 2). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570900 ms (missed cycles : 2).[0m ×2 + 6.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813143 ms (missed cycles : 2). + 6.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.813143 ms (missed cycles : 2).[0m ×2 + 8.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638690 ms (missed cycles : 2). + 8.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.638690 ms (missed cycles : 2).[0m ×2 + 9.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217602 ms (missed cycles : 2). + 9.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.217602 ms (missed cycles : 2).[0m ×2 + 10.01sINFOros2_control_nodeMuJoCo sim: 0.02% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.17sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.17sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.18sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 10.20sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.20sERRORweb_video_auth_proxy-35process has died [pid 9552, 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 + 10.20sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.21sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 10.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059086 ms (missed cycles : 2). + 10.23sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.23sERRORweb_bridge_auth_proxy-34process has died [pid 9551, 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 + 10.23sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.23sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.24sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.25sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.26sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 10.27sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 10.29sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 10.31sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 10.32sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 10.34sINFOvideo_server-33process has finished cleanly [pid 9550] ×2 + 10.34sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 10.36sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 10.38sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.059086 ms (missed cycles : 2).[0m ×2 + 10.40sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 10.42sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 10.43sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 10.45sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 10.47sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 10.49sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 10.51sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 10.54sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 10.54sINFOcontroller_managerShutdown request received.... + 10.54sINFOcontroller_managerShutting down all controllers in the controller manager. + 10.54sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 10.54sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 10.54sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 10.54sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 10.54sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 10.54sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 10.54sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 10.54sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 10.54sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 10.54sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 10.54sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 10.54sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 10.54sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 10.54sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 10.54sINFOcontroller_managerShutting down the controller manager. + 10.56sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 10.56sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9549] ×2 + 10.56sERRORmove_group-21process has died [pid 9516, exit code -6, cmd '/opt/overlay_ws/install/moveit_ros_move_group/lib/moveit_ros_move_group/move_group --ros-args --log-level info --ros-args --params-file /tmp/launch_params_7wr1ahm4 --params-file /tmp/launch_params_b_vda1bw --params-file /tmp/launch_params_w55qc1vs --params-file /tmp/launch_params_1qw4ewck --params-file /tmp/launch_params_t4ea5tmc --params-file /tmp/launch_params_8pm99s7k']. ×2 + 10.57sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 10.59sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 10.61sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 10.63sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 10.63sINFOui_teleop_bridge-30process has finished cleanly [pid 9547] ×2 + 10.65sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 10.66sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 10.67sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 10.67sINFOmap_serverDeactivating + 10.67sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 10.67sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_rear_ROS' at time 1786401031.766 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 10.68sINFOmap_serverCleaning up + 10.68sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 10.68sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 10.68sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 10.68sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 10.68sINFOcontroller_serverDeactivating + 10.68sINFOlocal_costmap.local_costmapDeactivating + 10.68sINFOvideo_server2026/08/10 22:30:31 INF shutting down gracefully ×2 + 10.68sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.68sINFOvideo_server2026/08/10 22:30:31 INF [WebRTC] closing ×2 + 10.68sINFOvideo_server2026/08/10 22:30:31 INF [RTSP] closing ×2 + 10.69sINFOvideo_server2026/08/10 22:30:31 INF waiting for running hooks ×2 + 10.69sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.69sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 10.69sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 10.69sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.69sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 10.69sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 10.69sERRORmove_groupStack trace (most recent call last) in thread 10165: ×2 + 10.69sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 10.69sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab6e345a63, in __clone ×2 + 10.69sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab6e2b8aa3, in ×2 + 10.69sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab6e54adb3, in ×2 + 10.69sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7fab6ecb7fe7, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 10.69sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab6e8dc620, in rclcpp::Rate::sleep() ×2 + 10.69sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab6e81ed18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 10.70sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7fab6e7e0087, in ×2 + 10.70sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab6e519390, in __cxa_throw ×2 + 10.70sERRORamclThe bond connection to the lifecycle manager has been broken + 10.70sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab6e503a54, in std::terminate() ×2 + 10.70sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab6e5190d9, in ×2 + 10.70sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7fab6e503ff4, in ×2 + 10.70sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab6e2448fe, in abort ×2 + 10.70sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab6e26127d, in raise ×2 + 10.70sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7fab6e2bab2c, in pthread_kill ×2 + 10.70sERRORmove_groupAborted (Signal sent by tkill() 9516 0) ×2 + 10.70sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 10.70sINFOros2_control_nodeShutdown request received....[0m ×2 + 10.70sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 10.70sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 10.70sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 10.70sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 10.70sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 10.70sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 10.70sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 10.70sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 10.70sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 10.70sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 10.70sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.70sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 10.70sINFOodom_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 + 10.70sINFOodom_qos_relay.pymain() ×2 + 10.70sINFOodom_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 + 10.70sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 10.70sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 10.70sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 10.70sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 10.70sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 10.70sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 10.70sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 10.70sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 10.70sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 10.70sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 10.71sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 10.75sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 10.75sINFOros2_control_nodepublish_async_failures_ 2[0m ×4 + 10.76sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 10.78sINFOcontroller_serverCleaning up + 10.78sINFOlocal_costmap.local_costmapCleaning up + 10.82sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 10.82sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 10.82sINFOsmoother_serverDeactivating + 10.82sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 10.82sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 10.82sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 10.82sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 10.82sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 10.82sINFOvelocity_smootherDeactivating + 10.82sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 10.83sINFOsmoother_serverCleaning up + 10.84sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 10.84sINFOplanner_serverDeactivating + 10.84sINFOglobal_costmap.global_costmapDeactivating + 10.93sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 10.93sINFOwaypoint_followerDeactivating + 10.93sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 11.04sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 11.04sINFObt_navigatorDeactivating + 11.04sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 11.16sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 11.16sINFObehavior_serverDeactivating + 11.16sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 11.27sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 11.27sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 11.27sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 11.27sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.27sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 11.27sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 11.27sINFOvelocity_smootherCleaning up + 11.28sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 11.28sINFOwaypoint_followerCleaning up + 11.30sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 11.30sINFObt_navigatorCleaning up + 11.38sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 11.38sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 11.39sINFOplanner_serverCleaning up + 11.41sINFOglobal_costmap.global_costmapCleaning up + 11.42sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 11.42sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 11.45sINFOexecute_objective_bridge-29process has finished cleanly [pid 9546] ×2 + 11.45sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 11.45sINFObehavior_serverCleaning up + 11.46sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 11.46sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 11.46sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 11.46sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 11.48sINFOcomponent_container_mt-28process has finished cleanly [pid 9545] ×2 + 11.48sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9540] ×2 + 11.48sINFObt_navigatorCompleted Cleaning up + 11.48sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 11.50sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9539] ×2 + 11.54sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.54sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 11.54sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.54sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 11.54sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.54sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 11.54sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 11.54sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 11.56sINFOparameter_manager_node-22process has finished cleanly [pid 9517] ×2 + 11.56sINFOwaypoint_manager_node-23process has finished cleanly [pid 9518] ×2 + 11.59sINFOobjective_server_node[2026-08-10 22:30:32.978] [moveit_pro_license] [info] ×2 + 11.59sINFOobjective_server_node************************************************* ×4 + 11.59sINFOobjective_server_node* MoveIt Pro License ×2 + 11.59sINFOobjective_server_node* Application has successfully terminated ×2 + 11.60sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9426] ×2 + 11.62sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9425] ×2 + 11.67sINFOstatic_transform_publisher-4process has finished cleanly [pid 9422] ×2 + 11.68sINFOobjective_server_node_main-26process has finished cleanly [pid 9542] ×2 + 11.68sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 11.69sINFOstatic_transform_publisher-3process has finished cleanly [pid 9421] ×2 + 11.69sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9424] ×2 + 11.71sERRORodom_qos_relay.py-5process has died [pid 9423, 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 + 11.82sERRORcomponent_container_isolated-1process has died [pid 9419, 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_vj90vu_l --params-file /tmp/launch_params_o5guhmo9 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.58sINFOcomponent_container_mt-27process has finished cleanly [pid 9543] ×2 + 13.01sERRORcomponent_container_isolated-2process has died [pid 9420, 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_vj90vu_l --params-file /tmp/launch_params_kzbfr6r4 -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.08sINFOweb_bridge-31process has finished cleanly [pid 9548] ×2 + 13.08sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 13.29sINFOros2_control_node-9process has finished cleanly [pid 9427] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.8s	3 errors · 50 warnings · 96 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.794ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647699 ms (missed cycles : 2). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.647699 ms (missed cycles : 2).[0m ×2 + 1.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859766 ms (missed cycles : 2). + 1.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.859766 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 2.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018512 ms (missed cycles : 2). + 2.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.018512 ms (missed cycles : 2).[0m ×2 + 3.02sINFOjoint_trajectory_controllerGoal reached, success! + 3.02sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.06sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786400866.84550953 seconds ×3 + 3.07sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 10.65) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.17sWARNlocal_costmap.local_costmapSensor origin at (-2.60, 11.17) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.140ms + 3.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789485 ms (missed cycles : 3). + 3.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.789485 ms (missed cycles : 3).[0m ×2 + 3.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.656ms + 3.60sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786400867.39264512 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.608ms + 3.89sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.196ms + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.095ms + 4.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840214 ms (missed cycles : 2). + 4.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.840214 ms (missed cycles : 2).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.408ms + 4.92sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 4.96sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.96sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.96sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.96sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.809ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.855ms + 5.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895573 ms (missed cycles : 2). + 5.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.895573 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.635ms + 6.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320223 ms (missed cycles : 2). + 6.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.320223 ms (missed cycles : 2).[0m ×2 + 7.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155163 ms (missed cycles : 2). + 7.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.155163 ms (missed cycles : 2).[0m ×2 + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.476ms + 8.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.187ms + 8.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923284 ms (missed cycles : 2). + 8.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.923284 ms (missed cycles : 2).[0m ×2 + 8.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.784ms + 9.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.999ms + 9.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481028 ms (missed cycles : 3). + 9.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481028 ms (missed cycles : 3).[0m ×2 + 9.89sINFOamclParticle filter update iteration stats: 4921 particles 723 points - 4.427ms + 10.40sINFOamclParticle filter update iteration stats: 3648 particles 723 points - 4.849ms + 10.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754581 ms (missed cycles : 2). + 10.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.754581 ms (missed cycles : 2).[0m ×2 + 10.90sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 3.065ms + 11.40sINFOamclParticle filter update iteration stats: 2250 particles 723 points - 2.192ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775877 ms (missed cycles : 2). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775877 ms (missed cycles : 2).[0m ×2 + 11.90sINFOamclParticle filter update iteration stats: 1332 particles 723 points - 1.700ms + 12.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.342ms + 12.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.167ms + 13.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545641 ms (missed cycles : 3). + 13.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.545641 ms (missed cycles : 3).[0m ×2 + 13.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.784ms + 13.82sINFOobjective_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 + 13.83sINFOjoint_trajectory_controllerGot request to cancel goal + 13.83sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 13.83sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 13.83sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 13.86sERRORobjective_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: 1786400877.64701891 seconds ×3 + 13.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.728ms + 14.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.022ms + 14.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094629 ms (missed cycles : 2). + 14.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094629 ms (missed cycles : 2).[0m ×2 + 14.40sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786400878.19191957 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.977ms + 14.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.052ms + 14.77sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 15.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.041ms + 15.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019473 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.019473 ms (missed cycles : 2).[0m ×2 + 15.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.778ms + 15.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.668ms + 15.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.988ms + 16.06sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 16.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.966ms + 16.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992083 ms (missed cycles : 2). + 16.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.992083 ms (missed cycles : 2).[0m ×2 + 16.51sINFOamclParticle filter update iteration stats: 3897 particles 723 points - 5.062ms + 16.80sINFOamclParticle filter update iteration stats: 2439 particles 723 points - 2.663ms + 17.10sINFOamclParticle filter update iteration stats: 1788 particles 723 points - 2.036ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.5s	35 warnings · 64 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.69sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal ×2 + 3.60sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 3.60sINFOros2_control_nodeReceived new action goal[0m ×4 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792661 ms (missed cycles : 2). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.792661 ms (missed cycles : 2).[0m ×2 + 6.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.395ms + 7.25sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786400781.82257414 seconds ×3 + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756393 ms (missed cycles : 2). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.756393 ms (missed cycles : 2).[0m ×2 + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437281 ms (missed cycles : 3). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.437281 ms (missed cycles : 3).[0m ×2 + 8.80sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786400783.37156057 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.08sINFOobjective_server_nodeFound path in 0 iterations (4.7e-07 s). ×2 + 9.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072063 ms (missed cycles : 2). + 9.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.072063 ms (missed cycles : 2).[0m ×2 + 10.17sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136081 ms (missed cycles : 2). + 10.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.136081 ms (missed cycles : 2).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.8s	33 warnings · 63 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958514 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.958514 ms (missed cycles : 2).[0m ×2 + 0.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.814ms + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514309 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.514309 ms (missed cycles : 2).[0m ×2 + 1.37sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.872ms + 2.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640793 ms (missed cycles : 2). + 2.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.640793 ms (missed cycles : 2).[0m ×2 + 2.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 3.21sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.21sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.22sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786400950.33207178 seconds ×3 + 3.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.23sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827681 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.827681 ms (missed cycles : 2).[0m ×2 + 3.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.649ms + 3.76sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786400950.87515712 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.84sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 3.84sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 3.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.821ms + 4.11sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.11sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.11sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.11sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.121ms + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871232 ms (missed cycles : 2). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.871232 ms (missed cycles : 2).[0m ×2 + 5.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 6.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 6.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 7.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 7.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 7.96sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 8.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 8.53sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.82sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 9.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 9.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 9.97sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 10.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 10.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.4s	30 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.38sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786400717.50304699 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786400718.04636598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (1.9281e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.70sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.70sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.70sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2 + 6.80sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786400720.91651964 seconds ×3 + 7.35sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786400721.46407270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323952 ms (missed cycles : 2). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323952 ms (missed cycles : 2).[0m ×2 + 7.64sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048827 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048827 ms (missed cycles : 2).[0m ×2 + 8.84sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381051 ms (missed cycles : 2). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381051 ms (missed cycles : 2).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.1s	21 warnings · 48 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.516ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026692 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026692 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.230ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.945ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786401023.66770697 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.561ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786401024.24975705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.174ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786401024.74990988 seconds ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.128ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.734ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.842ms + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786401025.28837347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.583ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.375ms + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786401025.62850595 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2).[0m ×2 + 5.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.083ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms + 7.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570900 ms (missed cycles : 2). + 7.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570900 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 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236398 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236398 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 2.203927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786400717.50304699 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786400718.04636598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (1.9281e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal + 4.70sINFOjoint_trajectory_controllerAccepted new action goal + 4.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.203927 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835429 ms (missed cycles : 2).[0m ×2 + 2.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2). + 2.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.990437 ms (missed cycles : 2).[0m ×2 + 3.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2). + 3.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.700355 ms (missed cycles : 2).[0m ×2 + 3.38sINFOjoint_trajectory_controllerGoal reached, success! + 3.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.39sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786400717.50304699 seconds ×3 + 3.40sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.93sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786400718.04636598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2). + 4.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2).[0m ×2 + 4.67sINFOobjective_server_nodeFound path in 0 iterations (1.9281e-05 s). ×2 + 4.68sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.70sINFOjoint_trajectory_controllerReceived new action goal + 4.70sINFOjoint_trajectory_controllerAccepted new action goal + 4.70sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.70sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2). + 5.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2).[0m ×2 + 6.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 6.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 58 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.01sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786400717.50304699 seconds ×3 + 0.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.56sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786400718.04636598 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.517609 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeFound path in 0 iterations (1.9281e-05 s). ×2 + 1.30sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.32sINFOjoint_trajectory_controllerReceived new action goal ×2 + 1.32sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 1.32sINFOros2_control_nodeReceived new action goal[0m ×4 + 1.32sINFOros2_control_nodeAccepted new action goal[0m ×4 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.382801 ms (missed cycles : 2).[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294712 ms (missed cycles : 2).[0m ×2 + 3.43sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786400720.91651964 seconds ×3 + 3.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786400721.46407270 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323952 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323952 ms (missed cycles : 2).[0m ×2 + 4.27sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048827 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048827 ms (missed cycles : 2).[0m ×2 + 5.47sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 6.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381051 ms (missed cycles : 2). + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.381051 ms (missed cycles : 2).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	20 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	20 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	20 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	20 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.022748 ms (missed cycles : 2).[0m ×2 + 1.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.116638 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.808ms + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.652930 ms (missed cycles : 2).[0m ×2 + 2.69sINFOjoint_trajectory_controllerGoal reached, success! + 2.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.71sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786400777.28421664 seconds ×3 + 2.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.73sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.79sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 2.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.580ms + 3.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.916ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.544024 ms (missed cycles : 2).[0m ×2 + 3.26sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786400777.83239412 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.29sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.29sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.954ms + 3.56sINFOobjective_server_nodeFound path in 0 iterations (2.6e-07 s). ×2 + 3.58sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 3.60sINFOjoint_trajectory_controllerReceived new action goal + 3.60sINFOjoint_trajectory_controllerAccepted new action goal + 3.60sINFOros2_control_nodeReceived new action goal[0m ×2 + 3.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.153512 ms (missed cycles : 2).[0m ×2 + 5.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.622ms + 5.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.222932 ms (missed cycles : 2).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	20 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786400813.18170428 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.773ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.580ms + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786400813.72536850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.594ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.454ms + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms + 5.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	20 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786400813.18170428 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.773ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.580ms + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786400813.72536850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.594ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.454ms + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms + 5.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	20 warnings · 42 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.686ms + 0.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2). + 0.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.772825 ms (missed cycles : 2).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.715ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 1.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2). + 1.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.503080 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 2.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2). + 2.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.285685 ms (missed cycles : 2).[0m ×2 + 2.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.792ms + 3.25sINFOjoint_trajectory_controllerGoal reached, success! + 3.25sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.29sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786400813.18170428 seconds ×3 + 3.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-3.67, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.37sWARNlocal_costmap.local_costmapSensor origin at (-4.57, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 2.773ms + 3.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3). + 3.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.313464 ms (missed cycles : 3).[0m ×2 + 3.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.580ms + 3.84sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786400813.72536850 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.86sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.86sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.865ms + 4.11sINFOobjective_server_nodeFound path in 0 iterations (2.5e-07 s). ×2 + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.594ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.454ms + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2). + 4.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.258485 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms + 5.06sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 5.10sINFOjoint_trajectory_controllerReceived new action goal + 5.10sINFOjoint_trajectory_controllerAccepted new action goal + 5.10sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.10sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.987ms + 5.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2). + 5.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472249 ms (missed cycles : 2).[0m ×2 + 6.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.820ms
− skipped	Open Gripper	open_gripper.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
− skipped	Raster Path Along Fuselage	raster_path_along_fuselage.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Point	segment_image_from_point.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Segment Image from Text Prompt	segment_image_from_text_prompt.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Segment Point Cloud from Clicked Point	segment_point_cloud_from_clicked_point.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Find and Spray Plane	solution_-_find_and_spray_plane.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Picknik	solution_draw_picknik.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Draw Square	solution_draw_square.xml	0.0s	18 warnings · 32 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.486ms + 0.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2). + 0.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.278400 ms (missed cycles : 2).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.236620 ms (missed cycles : 2).[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.774ms + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.472865 ms (missed cycles : 2).[0m ×2 + 2.65sINFOjoint_trajectory_controllerGoal reached, success! + 2.65sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.68sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786400955.07529545 seconds ×3 + 2.72sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 2.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 2.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.038ms + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.931109 ms (missed cycles : 2).[0m ×2 + 3.25sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786400955.64543939 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.27sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.27sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 3.54sINFOobjective_server_nodeFound path in 0 iterations (2.7e-07 s). ×2 + 4.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2). + 4.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.145670 ms (missed cycles : 2).[0m ×2 + 4.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 4.72sINFOjoint_trajectory_controllerReceived new action goal + 4.72sINFOjoint_trajectory_controllerAccepted new action goal + 4.72sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.73sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.904130 ms (missed cycles : 2).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 48 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.516ms + 0.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026692 ms (missed cycles : 2). + 0.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.026692 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.230ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.654ms + 1.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2). + 1.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.712221 ms (missed cycles : 2).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.647ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.570013 ms (missed cycles : 2).[0m ×2 + 2.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.945ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.685778 ms (missed cycles : 2).[0m ×2 + 3.45sINFOjoint_trajectory_controllerGoal reached, success! + 3.45sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.47sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786401023.66770697 seconds ×3 + 3.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.49sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.561ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.649ms + 4.06sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786401024.24975705 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.06sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.06sINFOmove_groupClearing octomap...[0m ×2 + 4.06sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.174ms + 4.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2). + 4.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.809607 ms (missed cycles : 2).[0m ×2 + 4.56sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786401024.74990988 seconds ×3 + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.128ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.734ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.842ms + 5.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786401025.28837347 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.583ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.375ms + 5.43sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786401025.62850595 seconds ×3 + 5.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2). + 5.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.213499 ms (missed cycles : 2).[0m ×2 + 5.67sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.083ms + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.396ms + 6.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.730ms
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[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	—	create_point_cloud_vector_from_masks.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.44sINFOmove_groupClearing octomap...[0m ×2 + 2.44sINFOmove_groupOctomap cleared.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 4.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_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 1.885326 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 5.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.91sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.5s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 6.94sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.94sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.19sINFOjoint_trajectory_controllerReceived new action goal + 7.19sINFOjoint_trajectory_controllerAccepted new action goal + 7.19sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.19sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
− skipped	—	createvector.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.989993 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 2.73sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 3.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 3.46sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.47sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.47sINFOmove_groupClearing octomap...[0m ×2 + 3.47sINFOmove_groupOctomap cleared.[0m ×2 + 3.47sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 4.02sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 5.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.30sINFOobjective_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 + 5.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.30sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.30sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.33sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.33sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 5.34sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 5.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 5.89sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 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 + 5.90sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.90sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.90sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.90sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.90sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.90sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 6.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.918511 ms (missed cycles : 2).[0m ×2 + 1.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 1.70sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.91sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.91sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 2.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 2.44sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.44sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.44sINFOmove_groupClearing octomap...[0m ×2 + 2.44sINFOmove_groupOctomap cleared.[0m ×2 + 2.45sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 3.00sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.01sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 3.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 3.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 3.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 4.26sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.27sINFOobjective_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 + 4.27sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.27sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.27sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.27sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.27sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.27sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.29sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.29sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.30sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.30sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 4.31sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 4.32sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 4.86sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.87sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.87sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.87sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.87sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.87sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.87sINFOros2_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 1.885326 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 5.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.91sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.16sINFOjoint_trajectory_controllerReceived new action goal + 6.16sINFOjoint_trajectory_controllerAccepted new action goal + 6.16sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.16sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2

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

10 skip

− skipped	—	execute_mtc_solution.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236398 ms (missed cycles : 2). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.236398 ms (missed cycles : 2).[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[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 · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196666 ms (missed cycles : 2).[0m ×2 + 0.56sINFOros2_control_nodeMuJoCo sim: 0.00% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.77sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 0.77sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.405148 ms (missed cycles : 2).[0m ×2 + 1.30sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786400672.12343240 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.30sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.30sINFOmove_groupClearing octomap...[0m ×2 + 1.30sINFOmove_groupOctomap cleared.[0m ×2 + 1.31sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786400672.13368106 seconds ×3 + 1.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786400672.68131638 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786400672.69145179 seconds ×3 + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2). + 2.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.129210 ms (missed cycles : 2).[0m ×2 + 2.40sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786400673.22815299 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786400673.37864614 seconds ×3 + 3.12sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786400673.94264317 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.13sINFOobjective_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 + 3.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.15sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.16sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3). + 3.17sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.809129 ms (missed cycles : 3).[0m ×2 + 3.18sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786400674.00274682 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786400674.54461074 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.73sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 3.73sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 3.73sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 3.73sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 3.73sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 3.73sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 3.73sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.885326 ms (missed cycles : 2).[0m ×2 + 4.77sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 4.77sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.02sINFOjoint_trajectory_controllerReceived new action goal + 5.02sINFOjoint_trajectory_controllerAccepted new action goal + 5.02sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.02sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.941895 ms (missed cycles : 2).[0m ×2