MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.4s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.4s	12 errors · 305 warnings · 1228 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/2026-08-11-19-19-16-621727-401134608d61-9409 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.93sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'mj_world' to 'map' + 13.94sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 14.01sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.02sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.02sINFOcontroller_managerupdate rate is 600 Hz + 14.02sINFOcontroller_managerOverruns handling is : enabled + 14.02sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.02sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.03sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.04sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.04sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.07sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386838 ms (missed cycles : 5). + 14.15sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.16sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.16sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.20sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.21sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.23sINFOcontroller_server controller_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.26sINFOros2_control_node-9process started with pid [9467] ×2 + 14.26sINFOmove_group-21process started with pid [9574] ×2 + 14.26sINFOparameter_manager_node-22process started with pid [9575] ×2 + 14.26sINFOwaypoint_manager_node-23process started with pid [9576] ×2 + 14.26sINFOmove_joint_resampler_node-24process started with pid [9580] ×2 + 14.27sINFOmove_end_effector_resampler_node-25process started with pid [9581] ×2 + 14.27sINFOobjective_server_node_main-26process started with pid [9582] ×2 + 14.27sINFOcomponent_container_mt-27process started with pid [9585] ×2 + 14.27sINFOcomponent_container_mt-28process started with pid [9586] ×2 + 14.27sINFOexecute_objective_bridge-29process started with pid [9587] ×2 + 14.27sINFOui_teleop_bridge-30process started with pid [9588] ×2 + 14.27sINFOweb_bridge-31process started with pid [9589] ×2 + 14.27sINFOtf2_web_republisher_node-32process started with pid [9590] ×2 + 14.27sINFOvideo_server-33process started with pid [9591] ×2 + 14.27sINFOweb_bridge_auth_proxy-34process started with pid [9592] ×2 + 14.27sINFOweb_video_auth_proxy-35process started with pid [9593] ×2 + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.28sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.28sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.29sINFOcomponent_container_isolated-1process started with pid [9459] ×2 + 14.29sINFOcomponent_container_isolated-2process started with pid [9460] ×2 + 14.29sINFOstatic_transform_publisher-3process started with pid [9461] ×2 + 14.29sINFOstatic_transform_publisher-4process started with pid [9462] ×2 + 14.29sINFOodom_qos_relay.py-5process started with pid [9463] ×2 + 14.30sINFOforward_stereo_publisher.py-6process started with pid [9464] ×2 + 14.30sINFOscan_to_scan_filter_chain-7process started with pid [9465] ×2 + 14.30sINFOscan_to_scan_filter_chain-8process started with pid [9466] ×2 + 14.30sINFOros2-10process started with pid [9545] ×2 + 14.30sINFOros2-11process started with pid [9546] ×2 + 14.30sINFOros2-12process started with pid [9547] ×2 + 14.30sINFOros2-13process started with pid [9548] ×2 + 14.30sINFOros2-14process started with pid [9549] ×2 + 14.30sINFOros2-15process started with pid [9550] ×2 + 14.30sINFOros2-16process started with pid [9551] ×2 + 14.30sINFOros2-17process started with pid [9553] ×2 + 14.30sINFOros2-18process started with pid [9571] ×2 + 14.30sINFOros2-19process started with pid [9572] ×2 + 14.30sINFOros2-20process started with pid [9573] ×2 + 14.31sINFOmap_server map_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.31sINFOmap_serverCreating + 14.33sINFOcontroller_serverCreating controller server + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.37sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.38sINFOlocal_costmap.local_costmap local_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.38sINFOlocal_costmap.local_costmapCreating Costmap + 14.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.41sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.42sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.42sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.42sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.44sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.44sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.44sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.44sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.44sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.44sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.44sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.45sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.45sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.45sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.45sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.45sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.45sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.45sWARNros2_control_nodeCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling.[0m ×2 + 14.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.386838 ms (missed cycles : 5).[0m ×2 + 14.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.45sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.47sINFOsmoother_server smoother_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.47sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.48sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.49sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.50sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.50sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.51sINFOsmoother_serverCreating smoother server + 14.52sINFOlifecycle_manager_localizationCreating + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.53sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.53sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.53sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.54sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.54sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.54sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.55sINFOmap_serverConfiguring + 14.55sINFOplanner_server planner_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.57sINFOrobot_state_publisherRobot initialized + 14.57sINFOcontroller_managerReceived robot description from topic. + 14.57sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.57sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.57sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.57sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.57sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.58sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.58sINFOplanner_serverCreating + 14.61sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.61sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.62sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.63sINFOglobal_costmap.global_costmap global_costmap lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.63sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.64sINFOglobal_costmap.global_costmapCreating Costmap + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.65sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.65sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.67sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.67sINFOamclConfiguring + 14.67sINFObehavior_server behavior_server lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.68sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.68sINFOmap_serverActivating + 14.68sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.68sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.68sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.69sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.69sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.70sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.70sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.70sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.72sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.72sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.72sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.73sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.74sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.74sINFObt_navigator bt_navigator lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.76sINFObt_navigatorCreating + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.77sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.77sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.78sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.80sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.80sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.80sINFOamclActivating + 14.80sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.81sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.81sINFOamclSubscribed to map_topic: /map + 14.81sINFOamclSubscribed to scan_topic: /scan_merged + 14.81sINFOwaypoint_follower waypoint_follower lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.81sINFOamclCreated reinitialize_global_localization service + 14.82sINFOamclCreated request_nomotion_update service + 14.82sINFOamclA new map was received + 14.82sINFOamclInitializing particle filter instance + 14.82sINFOwaypoint_followerCreating + 14.83sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 14.84sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 14.85sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.85sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 14.88sINFOvelocity_smoother velocity_smoother lifecycle node launched. Waiting on external lifecycle transitions to activate See https://design.ros2.org/articles/node_lifecycle.html for more information. + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 14.89sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.90sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.93sINFOlifecycle_manager_navigationCreating + 14.94sWARNlaser_angular_filter_reardiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.94sWARNlaser_angular_filter_frontdiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID. + 14.95sWARNscan_to_scan_filter_chaindiagnostic_updater: No HW_ID was set. This is probably a bug. Please report it. For devices that do not have a HW_ID, set this value to 'none'. This warning only occurs once all diagnostics are OK. It is okay to wait until the device is open before calling setHardwareID.[0m ×4 + 14.96sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.96sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 14.99sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 14.99sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 14.99sINFOcontroller_serverConfiguring controller interface + 14.99sINFOcontroller_servergetting progress checker plugins.. + 14.99sINFOcontroller_servergetting goal checker plugins.. + 14.99sINFOcontroller_serverController frequency set to 20.0000Hz + 14.99sINFOlocal_costmap.local_costmapConfiguring + 15.00sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.02sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.05sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.05sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.06sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.08sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.08sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.09sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.10sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.10sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.14sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.16sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.16sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.17sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.17sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.17sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.17sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.18sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.18sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.19sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.19sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.19sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.20sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.20sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.21sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.21sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.22sINFOcontroller_serverOptimizer reset ×2 + 15.22sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.333151 seconds + 15.22sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.22sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.22sINFOmove_groupLoaded robot model in 0.333151 seconds[0m ×2 + 15.22sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.23sINFOvideo_server2026/08/11 19:19:35 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.23sINFOvideo_server2026/08/11 19:19:35 INF configuration loaded from /tmp/moveit-webrtc-_t54xtgc/mediamtx.yml ×2 + 15.23sINFOvideo_server2026/08/11 19:19:35 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.23sINFOvideo_server2026/08/11 19:19:35 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.23sINFOcontroller_serverController Server has FollowPath controllers available. + 15.23sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.26sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.26sINFOsmoother_serverConfiguring smoother server + 15.27sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.28sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.29sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.29sINFOplanner_serverConfiguring + 15.29sINFOglobal_costmap.global_costmapConfiguring + 15.30sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.31sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.31sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.31sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.31sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.33sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.33sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.33sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.36sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.37sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.39sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.40sINFOplanner_serverPlanner Server has GridBased planners available. + 15.42sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.42sINFObehavior_serverConfiguring + 15.43sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.44sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.45sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.45sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.46sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.46sINFObehavior_serverConfiguring spin + 15.49sINFObehavior_serverConfiguring backup + 15.50sINFObehavior_serverConfiguring drive_on_heading + 15.51sINFObehavior_serverConfiguring assisted_teleop + 15.52sINFObehavior_serverConfiguring wait + 15.53sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.53sINFObt_navigatorConfiguring + 15.54sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.56sWARNbt_navigatorError_code parameters were not set. Using default values of: follow_path_error_code compute_path_error_code Make sure these match your BT and there are not other sources of error codes youreported to your application + 15.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452259 ms (missed cycles : 5). + 15.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.452259 ms (missed cycles : 5).[0m ×2 + 15.64sINFOamclParticle filter initialization completed + 15.65sINFOamclInitializing particles from estimated pose and covariance + 15.65sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.71sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.71sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.71sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.76sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.83sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 15.94sINFOwaypoint_manager_nodeLoaded robot model in 0.39659 seconds[0m ×2 + 15.94sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.94sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 15.94sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.94sINFOwaypoint_followerConfiguring + 15.98sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 15.99sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 15.99sINFOvelocity_smootherConfiguring velocity smoother + 16.01sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.02sINFOcontroller_serverActivating + 16.02sINFOlocal_costmap.local_costmapActivating + 16.02sINFOlocal_costmap.local_costmapChecking transform + 16.02sINFOlocal_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. ×8 + 16.10sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.10sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.10sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.11sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.12sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.12sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.12sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.12sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.13sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.59sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.60sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.60sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.61sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045658 ms (missed cycles : 6). + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.045658 ms (missed cycles : 6).[0m ×2 + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.63sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.63sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.64sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.65sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.65sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.65sINFOmove_group[2026-08-11 19:19:36.723] [moveit_pro_license] [info] ×2 + 16.65sINFOmove_group************************************************* ×4 + 16.65sINFOmove_group* MoveIt Pro License ×2 + 16.65sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.65sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.65sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.98sINFOwaypoint_manager_node[2026-08-11 19:19:37.053] [moveit_pro_license] [info] ×2 + 16.98sINFOwaypoint_manager_node************************************************* ×4 + 16.98sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.98sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.16sINFOspawner_imu_sensor_broadcasterwaiting for service /controller_manager/list_controllers to become available... + 17.16sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.39sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.39sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.39sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.39sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.39sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.39sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.39sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.39sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.40sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.40sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.40sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.40sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.41sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.41sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.41sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.41sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.42sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.53sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.53sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.54sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.84sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.84sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.84sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.84sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.84sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.84sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.84sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.84sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.84sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.84sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.84sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.84sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.84sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.84sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.84sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.84sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.84sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.84sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.84sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.84sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.87sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.87sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.87sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.91sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 17.91sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 17.91sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 17.91sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 17.91sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 17.92sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808018 ms (missed cycles : 2). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.808018 ms (missed cycles : 2).[0m ×2 + 17.95sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 17.95sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 17.95sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 17.95sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 17.95sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 17.96sINFOcontroller_managerSuccessfully switched controllers! ×7 + 17.96sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 17.96sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 17.96sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 17.96sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 18.05sINFOobjective_server_node[2026-08-11 19:19:38.131] [moveit_pro_license] [info] ×2 + 18.06sINFOobjective_server_node************************************************* ×4 + 18.06sINFOobjective_server_node* MoveIt Pro License ×2 + 18.06sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 18.11sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.16sINFOobjective_server_nodeLoaded robot model in 0.0331639 seconds[0m ×2 + 18.16sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.17sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.28sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 18.28sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 18.29sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 18.29sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 18.29sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 18.30sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 18.33sINFOros2-11process has finished cleanly [pid 9546] ×2 + 18.39sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 18.39sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 18.40sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 18.40sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 18.41sINFOplatform_velocity_controllerconfigure successful + 18.41sINFOros2_control_nodeconfigure successful[0m ×6 + 18.42sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 18.42sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 18.42sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 18.42sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.50sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.50sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.50sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.56sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.56sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.57sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.59sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.59sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.59sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.59sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.59sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.59sINFOstreaming_point_cloud_publisher_nodeStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz) + 18.59sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.59sINFOcomponent_container_mtStreaming every PointCloud2 source -> '/moveit_pro_ui/streaming_point_cloud/<source>' (CompressedPointCloud2) in frame 'world' (cloudini 0.0010 m resolution, max 30.0 Hz)[0m ×2 + 18.60sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.66sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.67sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.67sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.68sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.69sWARNobjective_server_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 18.71sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.71sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.71sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.74sWARNcomponent_container_mtPublisher already registered for node name: 'moveit_studio_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'moveit_studio_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.[0m ×2 + 18.78sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 18.78sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 18.78sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 18.78sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.81sINFOobjective_server_nodeWarning: class_loader.ClassLoader: SEVERE WARNING!!! Attempting to unload library while objects created by this loader exist in the heap! You should delete your objects before attempting to unload the library or destroying the ClassLoader. The library will NOT be unloaded. ×2 + 18.81sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.81sINFOros2-13process has finished cleanly [pid 9548] ×2 + 18.83sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.83sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.85sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.85sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.85sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.85sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.87sINFOstreaming_octomap_publisher_nodeStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000) + 18.87sINFOcomponent_container_mtStreaming octomap '/moveit_pro_ui/planning_scene_octomap' -> '/moveit_pro_ui/streaming_octomap' (CompressedPointCloud2 voxels) in frame 'world' (cloudini 0.0010 m, max 10.0 Hz, max_depth 0, max_voxels 500000)[0m ×2 + 18.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.92sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 18.92sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 18.94sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858107 ms (missed cycles : 2). + 18.95sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.858107 ms (missed cycles : 2).[0m ×2 + 18.95sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.98sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.98sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.98sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.98sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.00sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 19.00sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 19.06sINFOcomponent_container_mtLoaded robot model in 0.324203 seconds[0m ×2 + 19.06sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 19.06sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 19.08sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786475978.037 for reason 'discarding message because the queue is full' + 19.25sINFOmove_groupMoveGroup debug mode is ON + 19.25sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.25sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.29sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.30sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.30sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.30sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.30sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.31sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.31sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.36sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.42sINFOmove_group.moveit.ros.move_group.executable ******************************************************** * MoveGroup using: * - apply_planning_scene_service * - clear_octomap_service * - get_group_urdf * - load_geometry_from_file * - get_planning_scene_service * - kinematics_service * - save_geometry_to_file * - GetPlanningGroups * - URDFPlanningSceneCapability ****************************************************** + 19.42sINFOmove_group ×8 + 19.42sINFOmove_group****************************************************** ×4 + 19.42sINFOmove_group* MoveGroup using: ×2 + 19.42sINFOmove_group* - apply_planning_scene_service ×2 + 19.42sINFOmove_group* - clear_octomap_service ×2 + 19.42sINFOmove_group* - get_group_urdf ×2 + 19.42sINFOmove_group* - load_geometry_from_file ×2 + 19.42sINFOmove_group* - get_planning_scene_service ×2 + 19.42sINFOmove_group* - kinematics_service ×2 + 19.42sINFOmove_group* - save_geometry_to_file ×2 + 19.42sINFOmove_group* - GetPlanningGroups ×2 + 19.42sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.42sINFOmove_group[0m ×2 + 19.42sINFOmove_group[92mYou can start planning now![0m ×2 + 19.48sINFOros2_control_node[2026-08-11 19:19:39.554] [info] Controller state will be published at 20 Hz. ×2 + 19.48sINFOros2_control_node[2026-08-11 19:19:39.555] [info] JointVelocityController 'on_configure' succeeded. ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_x_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.linear_y_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rotational_yaw_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.54sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.55sWARNplanning_scene_listener_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.55sWARNcomponent_container_mtJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 19.75sWARNros2_control_nodeCamera render tick took 0.75 s (budget 0.050 s, EGL vendor 'Mesa Project'). All camera topics, including point clouds, are unavailable for the duration of a tick.[0m ×2 + 19.78sINFOcomponent_container_mt[2026-08-11 19:19:39.855] [moveit_pro_license] [info] ×2 + 19.78sINFOcomponent_container_mt************************************************* ×4 + 19.78sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.78sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.82sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 19.82sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 19.82sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 19.82sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 19.83sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 19.83sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 19.84sINFOros2-19process has finished cleanly [pid 9572] ×2 + 19.89sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.89sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.89sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.89sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.89sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.89sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.90sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.90sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.91sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.91sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 20.02sINFOlocal_costmap.local_costmapstart + 20.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575391 ms (missed cycles : 3). + 20.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.575391 ms (missed cycles : 3).[0m ×2 + 20.08sINFOamclParticle filter update iteration stats: 2114 particles 723 points - 4.538ms + 20.12sWARNcontroller_serverParameter controller_server.verbose not found + 20.12sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 20.12sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 20.17sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.17sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.18sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.23sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 20.23sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 20.23sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 20.23sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 20.23sINFOsmoother_serverActivating + 20.23sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 20.23sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 20.23sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 20.24sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 20.24sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 20.27sINFOros2-12process has finished cleanly [pid 9547] ×2 + 20.33sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 20.33sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 20.33sINFOplanner_serverActivating + 20.33sINFOglobal_costmap.global_costmapActivating + 20.33sINFOglobal_costmap.global_costmapChecking transform + 20.33sINFOglobal_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 1786475980.388672 but the earliest data is at time 1786475981.039951, when looking up transform from frame [ridgeback_base_link] to frame [map] + 20.36sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 20.36sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 20.36sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 20.36sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 20.36sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 20.36sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 20.36sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 20.37sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 20.37sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 20.37sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 20.37sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 20.37sWARNobjective_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 + 20.37sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 20.37sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 20.37sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 20.37sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 20.41sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.41sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.42sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.73sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.73sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.73sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 20.73sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.73sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.73sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 20.74sINFOros2-16process has finished cleanly [pid 9551] ×2 + 20.80sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.80sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.80sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.80sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.80sINFOplatform_velocity_controller_nav2configure successful + 20.83sINFOglobal_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 1786475980.903436 but the earliest data is at time 1786475981.039951, when looking up transform from frame [ridgeback_base_link] to frame [map] + 21.15sINFOros2-15process has finished cleanly [pid 9550] ×2 + 21.15sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 21.15sINFOcontroller_managerLoading controller 'velocity_force_controller' + 21.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350616 ms (missed cycles : 3). + 21.15sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 21.15sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.350616 ms (missed cycles : 3).[0m ×2 + 21.22sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 21.22sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 21.28sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 21.28sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 21.28sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 21.28sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 21.34sINFOglobal_costmap.global_costmapstart + 21.35sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.74sINFOros2_control_node[2026-08-11 19:19:41.818] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 21.75sINFOros2_control_node[2026-08-11 19:19:41.821] [info] Controller state will be published at 10 Hz. ×2 + 21.75sINFOros2_control_node[2026-08-11 19:19:41.824] [info] VelocityForceController 'on_configure' succeeded. ×2 + 22.09sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 22.09sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 22.09sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 22.09sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 22.09sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 22.09sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 22.12sINFOros2-17process has finished cleanly [pid 9553] ×2 + 22.15sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 22.15sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 22.15sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 22.15sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424649 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.424649 ms (missed cycles : 3).[0m ×2 + 22.39sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 22.39sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 22.49sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 22.49sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 22.49sINFObehavior_serverActivating + 22.49sINFObehavior_serverActivating spin + 22.49sINFObehavior_serverActivating backup + 22.49sINFObehavior_serverActivating drive_on_heading + 22.49sINFObehavior_serverActivating assisted_teleop + 22.49sINFObehavior_serverActivating wait + 22.49sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 22.60sINFOros2_control_node[2026-08-11 19:19:42.673] [info] Controller state will be published at 20 Hz. ×2 + 22.60sINFOros2_control_node[2026-08-11 19:19:42.674] [info] JointVelocityController 'on_configure' succeeded. ×2 + 22.60sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 22.60sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 22.60sINFObt_navigatorActivating + 22.66sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 22.77sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 22.77sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 22.77sINFOwaypoint_followerActivating + 22.77sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 22.87sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 22.87sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 22.87sINFOvelocity_smootherActivating + 22.87sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 22.96sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 22.96sINFOcontroller_managerLoading controller 'vacuum_gripper' + 22.96sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 22.96sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 22.96sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 22.96sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 22.98sINFOros2-20process has finished cleanly [pid 9573] ×2 + 22.98sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 22.98sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 22.98sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 22.99sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 22.99sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.03sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.03sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.03sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.03sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.04sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.04sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.04sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.04sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.05sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.05sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 23.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672989 ms (missed cycles : 2). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.672989 ms (missed cycles : 2).[0m ×2 + 23.39sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 23.39sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 23.39sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 23.39sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 23.39sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 23.39sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 23.43sINFOros2-14process has finished cleanly [pid 9549] ×2 + 23.47sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 23.47sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.47sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 23.47sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 23.47sINFOforce_torque_sensor_broadcasterconfigure successful + 23.48sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 23.48sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 23.48sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 23.48sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 23.83sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.83sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 23.84sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt + 23.84sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.84sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 23.84sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params_ng_xkv6r --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_rmtxu7jh --params-file /tmp/launch_params_31dgxxrt [0m ×2 + 23.86sINFOros2-10process has finished cleanly [pid 9545] ×2 + 23.90sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 23.90sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 23.91sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 23.91sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883498 ms (missed cycles : 2). + 24.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.883498 ms (missed cycles : 2).[0m ×2 + 24.37sINFOros2_control_node[2026-08-11 19:19:44.451] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.38sINFOros2_control_node[2026-08-11 19:19:44.452] [info] Controller state will be published at 10 Hz. ×2 + 24.38sINFOros2_control_node[2026-08-11 19:19:44.453] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.45sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.46sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.74sINFOros2-18process has finished cleanly [pid 9571] ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171885 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171885 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 27.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 27.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 27.88sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 29.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.59sINFOmove_groupClearing octomap...[0m ×2 + 29.59sINFOmove_groupOctomap cleared.[0m ×2 + 29.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 29.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 29.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 30.15sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.16sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 30.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 30.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 30.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 31.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 31.48sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.48sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.48sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.48sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.48sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.48sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.51sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.51sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.53sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.53sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.53sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.53sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.54sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	72.0s	3 errors · 237 warnings · 214 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 0.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478793 ms (missed cycles : 3). + 0.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478793 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 1.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451654 ms (missed cycles : 3). + 1.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451654 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 2.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548830 ms (missed cycles : 3). + 2.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548830 ms (missed cycles : 3).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726733 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726733 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 3.95sINFOobjective_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 + 3.95sINFOjoint_trajectory_controllerGot request to cancel goal + 3.95sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 3.95sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 3.95sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 3.96sERRORobjective_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: 1786476199.42276216 seconds ×3 + 3.98sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.98sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-0.74, 3.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.03sWARNlocal_costmap.local_costmapSensor origin at (-1.64, 3.90) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.10sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.714ms + 4.13sWARNlocal_costmap.local_costmapSensor origin at (-0.46, 3.00) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.13sWARNlocal_costmap.local_costmapSensor origin at (-1.36, 2.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.477ms + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332874 ms (missed cycles : 3). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332874 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.394ms + 4.53sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786476199.99263716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.57sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.57sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 4.94sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.232ms + 5.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174967 ms (missed cycles : 2). + 5.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174967 ms (missed cycles : 2).[0m ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.316ms + 6.01sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 7.809ms + 6.30sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 5.455ms + 6.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048859 ms (missed cycles : 4). + 6.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048859 ms (missed cycles : 4).[0m ×2 + 6.60sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.070ms + 6.72sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.78sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.78sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.78sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.78sINFOros2_control_nodeAccepted new action goal[0m ×10 + 6.90sINFOamclParticle filter update iteration stats: 1247 particles 723 points - 2.302ms + 7.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms ×2 + 7.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms + 7.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727710 ms (missed cycles : 2). + 7.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.727710 ms (missed cycles : 2).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 8.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.347ms + 8.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.125ms + 8.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419099 ms (missed cycles : 3). + 8.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.419099 ms (missed cycles : 3).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 9.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663835 ms (missed cycles : 4). + 9.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.663835 ms (missed cycles : 4).[0m ×2 + 10.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.101ms ×2 + 11.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380349 ms (missed cycles : 4). + 11.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.380349 ms (missed cycles : 4).[0m ×2 + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.122ms + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 12.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925612 ms (missed cycles : 3). + 12.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.925612 ms (missed cycles : 3).[0m ×2 + 12.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.354ms + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 13.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458411 ms (missed cycles : 3). + 13.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.458411 ms (missed cycles : 3).[0m ×2 + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302354 ms (missed cycles : 3). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.302354 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms ×2 + 15.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999974 ms (missed cycles : 3). + 15.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.999974 ms (missed cycles : 3).[0m ×2 + 15.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.241ms + 16.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147649 ms (missed cycles : 3). + 16.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.147649 ms (missed cycles : 3).[0m ×2 + 16.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms ×2 + 17.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.119ms + 17.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048343 ms (missed cycles : 4). + 17.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048343 ms (missed cycles : 4).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 18.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770311 ms (missed cycles : 3). + 18.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.770311 ms (missed cycles : 3).[0m ×2 + 19.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 19.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709164 ms (missed cycles : 2). + 19.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709164 ms (missed cycles : 2).[0m ×2 + 19.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 20.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820906 ms (missed cycles : 5). + 20.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.820906 ms (missed cycles : 5).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 21.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 21.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915234 ms (missed cycles : 4). + 21.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.915234 ms (missed cycles : 4).[0m ×2 + 21.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 22.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 22.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.422ms + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559113 ms (missed cycles : 3). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.559113 ms (missed cycles : 3).[0m ×2 + 23.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 23.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885911 ms (missed cycles : 3). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885911 ms (missed cycles : 3).[0m ×2 + 24.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.915ms + 24.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.196ms + 24.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699388 ms (missed cycles : 3). + 24.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.699388 ms (missed cycles : 3).[0m ×2 + 25.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 25.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 25.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156826 ms (missed cycles : 5). + 25.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.156826 ms (missed cycles : 5).[0m ×2 + 26.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 26.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.882ms + 26.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491282 ms (missed cycles : 3). + 26.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491282 ms (missed cycles : 3).[0m ×2 + 27.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 27.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.116ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969927 ms (missed cycles : 2). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.969927 ms (missed cycles : 2).[0m ×2 + 28.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.877ms + 28.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 28.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920861 ms (missed cycles : 2). + 28.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920861 ms (missed cycles : 2).[0m ×2 + 29.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 29.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211706 ms (missed cycles : 3). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.211706 ms (missed cycles : 3).[0m ×2 + 30.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.389ms + 30.81sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms ×2 + 31.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896373 ms (missed cycles : 3). + 31.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.896373 ms (missed cycles : 3).[0m ×2 + 31.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 31.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 32.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473641 ms (missed cycles : 3). + 32.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.473641 ms (missed cycles : 3).[0m ×2 + 32.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 32.51sINFOros2_control_nodeMuJoCo sim: 1.68% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 33.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955752 ms (missed cycles : 3). + 33.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.955752 ms (missed cycles : 3).[0m ×2 + 33.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.052ms + 34.05sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.05sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151681 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151681 ms (missed cycles : 2).[0m ×2 + 34.58sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115523 ms (missed cycles : 4). + 35.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.115523 ms (missed cycles : 4).[0m ×2 + 35.36sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.36sINFOobjective_server_nodePlanning for 39 path waypoints. ×3 + 36.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783494 ms (missed cycles : 4). + 36.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.783494 ms (missed cycles : 4).[0m ×2 + 37.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353460 ms (missed cycles : 3). + 37.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353460 ms (missed cycles : 3).[0m ×2 + 37.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms ×2 + 38.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 38.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032147 ms (missed cycles : 4). + 38.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.032147 ms (missed cycles : 4).[0m ×2 + 38.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 39.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 39.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms ×2 + 39.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919615 ms (missed cycles : 3). + 39.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.919615 ms (missed cycles : 3).[0m ×2 + 40.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 40.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581085 ms (missed cycles : 4). + 40.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.581085 ms (missed cycles : 4).[0m ×2 + 41.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.892ms + 41.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448734 ms (missed cycles : 3). + 41.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.448734 ms (missed cycles : 3).[0m ×2 + 42.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031547 ms (missed cycles : 4). + 42.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.031547 ms (missed cycles : 4).[0m ×2 + 43.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432127 ms (missed cycles : 4). + 43.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.432127 ms (missed cycles : 4).[0m ×2 + 44.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 45.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845886 ms (missed cycles : 3). + 45.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.845886 ms (missed cycles : 3).[0m ×2 + 45.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms ×2 + 46.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714384 ms (missed cycles : 3). + 46.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.714384 ms (missed cycles : 3).[0m ×2 + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.372ms + 47.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941521 ms (missed cycles : 3). + 47.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.941521 ms (missed cycles : 3).[0m ×2 + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 48.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 48.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305812 ms (missed cycles : 2). + 48.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.305812 ms (missed cycles : 2).[0m ×2 + 49.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 49.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451469 ms (missed cycles : 4). + 49.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.451469 ms (missed cycles : 4).[0m ×2 + 50.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355417 ms (missed cycles : 3). + 50.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.355417 ms (missed cycles : 3).[0m ×2 + 51.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676854 ms (missed cycles : 5). + 51.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.676854 ms (missed cycles : 5).[0m ×2 + 51.72sINFOobjective_server_nodePlanning for 31 path waypoints. ×3 + 52.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904675 ms (missed cycles : 3). + 52.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.904675 ms (missed cycles : 3).[0m ×2 + 53.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168925 ms (missed cycles : 4). + 53.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.168925 ms (missed cycles : 4).[0m ×2 + 54.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179788 ms (missed cycles : 4). + 54.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.179788 ms (missed cycles : 4).[0m ×2 + 55.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500299 ms (missed cycles : 3). + 55.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.500299 ms (missed cycles : 3).[0m ×2 + 56.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654777 ms (missed cycles : 2). + 56.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654777 ms (missed cycles : 2).[0m ×2 + 57.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 57.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751006 ms (missed cycles : 3). + 57.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.751006 ms (missed cycles : 3).[0m ×2 + 58.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 58.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 58.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220187 ms (missed cycles : 2). + 58.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.220187 ms (missed cycles : 2).[0m ×2 + 59.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 59.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512815 ms (missed cycles : 4). + 59.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.512815 ms (missed cycles : 4).[0m ×2 + 60.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 61.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696005 ms (missed cycles : 4). + 61.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.696005 ms (missed cycles : 4).[0m ×2 + 61.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 62.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972080 ms (missed cycles : 3). + 62.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.972080 ms (missed cycles : 3).[0m ×2 + 62.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.011ms + 63.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623303 ms (missed cycles : 2). + 63.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.623303 ms (missed cycles : 2).[0m ×2 + 63.60sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 64.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084423 ms (missed cycles : 3). + 64.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.084423 ms (missed cycles : 3).[0m ×2 + 65.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202021 ms (missed cycles : 3). + 65.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202021 ms (missed cycles : 3).[0m ×2 + 66.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323099 ms (missed cycles : 2). + 66.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.323099 ms (missed cycles : 2).[0m ×2 + 67.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442292 ms (missed cycles : 3). + 67.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.442292 ms (missed cycles : 3).[0m ×2 + 67.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 68.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.442ms + 68.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152516 ms (missed cycles : 2). + 68.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.152516 ms (missed cycles : 2).[0m ×2 + 69.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253936 ms (missed cycles : 4). + 69.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.253936 ms (missed cycles : 4).[0m ×2 + 70.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 70.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978026 ms (missed cycles : 2). + 70.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.978026 ms (missed cycles : 2).[0m ×2 + 71.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.378ms + 71.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602956 ms (missed cycles : 3). + 71.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602956 ms (missed cycles : 3).[0m ×2 + 72.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 72.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324839 ms (missed cycles : 4). + 72.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324839 ms (missed cycles : 4).[0m ×2 + 73.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 73.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518756 ms (missed cycles : 3). + 73.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518756 ms (missed cycles : 3).[0m ×2 + 74.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 74.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 75.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869776 ms (missed cycles : 2). + 75.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869776 ms (missed cycles : 2).[0m ×2 + 76.00sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786476271.46282196 seconds ×3 + 76.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787805 ms (missed cycles : 2). + 76.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787805 ms (missed cycles : 2).[0m ×2 + 76.13sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 76.13sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.44) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 76.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.404ms + 76.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 76.56sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786476272.02330995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 76.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 77.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 77.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 77.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 78.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 78.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 78.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.7s	185 warnings · 163 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3).[0m ×2 + 0.37sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.37sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786476035.20563364 seconds ×3 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786476035.76444817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4).[0m ×2 + 2.12sINFOobjective_server_nodeFound path in 0 iterations (3.4122e-05 s). ×2 + 2.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 2.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 2.15sINFOjoint_trajectory_controllerReceived new action goal ×4 + 2.15sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 2.15sINFOros2_control_nodeReceived new action goal[0m ×8 + 2.15sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167172 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167172 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786476039.07458043 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029855 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029855 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786476039.64303088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197035 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197035 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036407 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036407 ms (missed cycles : 3).[0m ×2 + 7.51sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834271 ms (missed cycles : 3). + 7.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.834271 ms (missed cycles : 3).[0m ×2 + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247239 ms (missed cycles : 2). + 8.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.247239 ms (missed cycles : 2).[0m ×2 + 9.54sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.638ms + 9.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741748 ms (missed cycles : 3). + 9.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.741748 ms (missed cycles : 3).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.774ms + 10.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092929 ms (missed cycles : 2). + 10.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.092929 ms (missed cycles : 2).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.602ms + 11.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.198ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078913 ms (missed cycles : 2). + 11.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.078913 ms (missed cycles : 2).[0m ×2 + 12.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.129ms + 12.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 12.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912151 ms (missed cycles : 2). + 12.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.912151 ms (missed cycles : 2).[0m ×2 + 13.13sINFOros2_control_nodeMuJoCo sim: 0.29% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.140ms + 13.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms ×2 + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785550 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.785550 ms (missed cycles : 3).[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.093ms + 14.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 15.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712930 ms (missed cycles : 2). + 15.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712930 ms (missed cycles : 2).[0m ×2 + 15.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 15.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms + 16.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210198 ms (missed cycles : 3). + 16.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210198 ms (missed cycles : 3).[0m ×2 + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 17.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374088 ms (missed cycles : 3). + 17.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.374088 ms (missed cycles : 3).[0m ×2 + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 18.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.491026 ms (missed cycles : 4). + 18.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.491026 ms (missed cycles : 4).[0m ×2 + 18.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.085ms + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 19.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580008 ms (missed cycles : 4). + 19.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.580008 ms (missed cycles : 4).[0m ×2 + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 20.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660622 ms (missed cycles : 3). + 20.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.660622 ms (missed cycles : 3).[0m ×2 + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.961ms ×2 + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 21.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178353 ms (missed cycles : 4). + 21.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.178353 ms (missed cycles : 4).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.020ms ×2 + 22.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623975 ms (missed cycles : 3). + 22.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.623975 ms (missed cycles : 3).[0m ×2 + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310668 ms (missed cycles : 3). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.310668 ms (missed cycles : 3).[0m ×2 + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 24.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902086 ms (missed cycles : 5). + 24.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.902086 ms (missed cycles : 5).[0m ×2 + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 25.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 25.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 25.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885013 ms (missed cycles : 3). + 25.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.885013 ms (missed cycles : 3).[0m ×2 + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 26.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937042 ms (missed cycles : 3). + 26.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.937042 ms (missed cycles : 3).[0m ×2 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 27.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 27.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662749 ms (missed cycles : 3). + 27.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.662749 ms (missed cycles : 3).[0m ×2 + 28.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.878ms + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 28.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137192 ms (missed cycles : 4). + 28.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137192 ms (missed cycles : 4).[0m ×2 + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.285ms + 30.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264321 ms (missed cycles : 2). + 30.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.264321 ms (missed cycles : 2).[0m ×2 + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 31.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 31.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927736 ms (missed cycles : 3). + 31.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927736 ms (missed cycles : 3).[0m ×2 + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 32.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764341 ms (missed cycles : 2). + 32.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.764341 ms (missed cycles : 2).[0m ×2 + 32.64sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 33.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 33.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657945 ms (missed cycles : 4). + 33.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.657945 ms (missed cycles : 4).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 34.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.519ms + 34.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151320 ms (missed cycles : 3). + 34.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.151320 ms (missed cycles : 3).[0m ×2 + 34.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 35.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190615 ms (missed cycles : 4). + 35.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.190615 ms (missed cycles : 4).[0m ×2 + 36.28sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.28sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098030 ms (missed cycles : 2). + 36.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.098030 ms (missed cycles : 2).[0m ×2 + 37.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.732ms + 37.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819641 ms (missed cycles : 3). + 37.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.819641 ms (missed cycles : 3).[0m ×2 + 38.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321686 ms (missed cycles : 2). + 38.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.321686 ms (missed cycles : 2).[0m ×2 + 39.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131276 ms (missed cycles : 5). + 39.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.131276 ms (missed cycles : 5).[0m ×2 + 40.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128200 ms (missed cycles : 2). + 40.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.128200 ms (missed cycles : 2).[0m ×2 + 41.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769097 ms (missed cycles : 5). + 41.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.769097 ms (missed cycles : 5).[0m ×2 + 42.43sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216001 ms (missed cycles : 4). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.216001 ms (missed cycles : 4).[0m ×2 + 44.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096411 ms (missed cycles : 4). + 44.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096411 ms (missed cycles : 4).[0m ×2 + 45.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886924 ms (missed cycles : 3). + 45.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886924 ms (missed cycles : 3).[0m ×2 + 46.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737712 ms (missed cycles : 5). + 46.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.737712 ms (missed cycles : 5).[0m ×2 + 47.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570652 ms (missed cycles : 3). + 47.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.570652 ms (missed cycles : 3).[0m ×2 + 48.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292622 ms (missed cycles : 2). + 48.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.292622 ms (missed cycles : 2).[0m ×2 + 49.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866582 ms (missed cycles : 2). + 49.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.866582 ms (missed cycles : 2).[0m ×2 + 50.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 50.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.510714 ms (missed cycles : 6). + 50.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 9.510714 ms (missed cycles : 6).[0m ×2 + 51.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252410 ms (missed cycles : 2). + 51.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252410 ms (missed cycles : 2).[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199398 ms (missed cycles : 4). + 53.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.199398 ms (missed cycles : 4).[0m ×2 + 53.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 54.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208730 ms (missed cycles : 4). + 54.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.208730 ms (missed cycles : 4).[0m ×2 + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532255 ms (missed cycles : 4). + 55.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532255 ms (missed cycles : 4).[0m ×2 + 56.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700375 ms (missed cycles : 2). + 56.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.700375 ms (missed cycles : 2).[0m ×2 + 57.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 57.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927558 ms (missed cycles : 3). + 57.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.927558 ms (missed cycles : 3).[0m ×2 + 58.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 58.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 59.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 59.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 61.03sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 61.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 61.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 61.93sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 62.07sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 62.07sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 62.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 62.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 62.52sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 62.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 62.74sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 62.95sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 62.98sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 63.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 63.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 63.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 63.84sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	187 warnings · 145 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.32sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.32sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485165 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485165 ms (missed cycles : 3).[0m ×2 + 7.30sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700219 ms (missed cycles : 3). + 7.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.700219 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164839 ms (missed cycles : 2). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.164839 ms (missed cycles : 2).[0m ×2 + 9.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.606ms + 10.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.088ms + 10.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056699 ms (missed cycles : 3). + 10.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056699 ms (missed cycles : 3).[0m ×2 + 10.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.629ms + 11.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.006ms + 11.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230524 ms (missed cycles : 2). + 11.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.230524 ms (missed cycles : 2).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.245ms + 12.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.694ms + 12.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133298 ms (missed cycles : 2). + 12.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.133298 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.400ms + 12.99sINFOamclParticle filter update iteration stats: 4477 particles 723 points - 6.226ms + 13.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131569 ms (missed cycles : 4). + 13.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.131569 ms (missed cycles : 4).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.306ms + 14.00sINFOamclParticle filter update iteration stats: 3513 particles 723 points - 6.690ms + 14.50sINFOamclParticle filter update iteration stats: 2229 particles 723 points - 3.465ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884713 ms (missed cycles : 2). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.884713 ms (missed cycles : 2).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 2.964ms + 15.49sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.122ms + 15.70sINFOros2_control_nodeMuJoCo sim: 2.21% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597147 ms (missed cycles : 3). + 15.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.597147 ms (missed cycles : 3).[0m ×2 + 15.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.570ms + 16.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.359ms + 16.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006462 ms (missed cycles : 3). + 16.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.006462 ms (missed cycles : 3).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 17.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.390ms + 17.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584600 ms (missed cycles : 2). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.584600 ms (missed cycles : 2).[0m ×2 + 17.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 18.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.227ms + 18.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702687 ms (missed cycles : 3). + 18.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.702687 ms (missed cycles : 3).[0m ×2 + 18.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 19.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms ×2 + 19.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 20.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060645 ms (missed cycles : 3). + 20.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.060645 ms (missed cycles : 3).[0m ×2 + 20.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.399ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.363ms + 21.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522923 ms (missed cycles : 3). + 21.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.522923 ms (missed cycles : 3).[0m ×2 + 21.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.274ms + 21.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 22.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546504 ms (missed cycles : 3). + 22.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.546504 ms (missed cycles : 3).[0m ×2 + 22.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.440ms + 22.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.356ms + 23.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820981 ms (missed cycles : 2). + 23.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.820981 ms (missed cycles : 2).[0m ×2 + 23.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.681ms + 23.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.556ms + 24.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817759 ms (missed cycles : 2). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.817759 ms (missed cycles : 2).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 24.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 25.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944154 ms (missed cycles : 3). + 25.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944154 ms (missed cycles : 3).[0m ×2 + 25.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 25.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976011 ms (missed cycles : 3). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.976011 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms + 26.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 27.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.575ms + 27.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659470 ms (missed cycles : 2). + 27.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.659470 ms (missed cycles : 2).[0m ×2 + 27.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.510ms + 28.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 28.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388818 ms (missed cycles : 2). + 28.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.388818 ms (missed cycles : 2).[0m ×2 + 28.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 29.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.899ms + 29.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043114 ms (missed cycles : 2). + 29.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.043114 ms (missed cycles : 2).[0m ×2 + 29.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 30.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084241 ms (missed cycles : 2). + 30.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.084241 ms (missed cycles : 2).[0m ×2 + 30.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.185ms + 31.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.288ms + 31.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734408 ms (missed cycles : 3). + 31.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.734408 ms (missed cycles : 3).[0m ×2 + 31.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 32.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 32.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322105 ms (missed cycles : 4). + 32.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.322105 ms (missed cycles : 4).[0m ×2 + 32.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 33.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.385ms + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979076 ms (missed cycles : 3). + 33.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.979076 ms (missed cycles : 3).[0m ×2 + 34.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 34.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592687 ms (missed cycles : 4). + 34.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.592687 ms (missed cycles : 4).[0m ×2 + 35.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 35.76sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.77sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277118 ms (missed cycles : 2). + 36.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.277118 ms (missed cycles : 2).[0m ×2 + 37.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610792 ms (missed cycles : 4). + 37.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.610792 ms (missed cycles : 4).[0m ×2 + 38.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160071 ms (missed cycles : 3). + 38.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.160071 ms (missed cycles : 3).[0m ×2 + 39.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383206 ms (missed cycles : 3). + 39.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.383206 ms (missed cycles : 3).[0m ×2 + 40.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048638 ms (missed cycles : 2). + 40.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.048638 ms (missed cycles : 2).[0m ×2 + 41.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307771 ms (missed cycles : 4). + 41.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.307771 ms (missed cycles : 4).[0m ×2 + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 42.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480495 ms (missed cycles : 3). + 42.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.480495 ms (missed cycles : 3).[0m ×2 + 43.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440177 ms (missed cycles : 2). + 43.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.440177 ms (missed cycles : 2).[0m ×2 + 44.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822379 ms (missed cycles : 5). + 44.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.822379 ms (missed cycles : 5).[0m ×2 + 45.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396397 ms (missed cycles : 4). + 45.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.396397 ms (missed cycles : 4).[0m ×2 + 46.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825306 ms (missed cycles : 2). + 46.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.825306 ms (missed cycles : 2).[0m ×2 + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495251 ms (missed cycles : 3). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495251 ms (missed cycles : 3).[0m ×2 + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861886 ms (missed cycles : 3). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.861886 ms (missed cycles : 3).[0m ×2 + 49.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182056 ms (missed cycles : 4). + 49.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.182056 ms (missed cycles : 4).[0m ×2 + 49.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.444ms + 50.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944348 ms (missed cycles : 3). + 50.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.944348 ms (missed cycles : 3).[0m ×2 + 51.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186481 ms (missed cycles : 3). + 51.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.186481 ms (missed cycles : 3).[0m ×2 + 52.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms + 52.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672010 ms (missed cycles : 3). + 52.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.672010 ms (missed cycles : 3).[0m ×2 + 54.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757665 ms (missed cycles : 5). + 54.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.757665 ms (missed cycles : 5).[0m ×2 + 55.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107511 ms (missed cycles : 4). + 55.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.107511 ms (missed cycles : 4).[0m ×2 + 56.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837094 ms (missed cycles : 5). + 56.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.837094 ms (missed cycles : 5).[0m ×2 + 56.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.866ms + 57.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244003 ms (missed cycles : 3). + 57.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244003 ms (missed cycles : 3).[0m ×2 + 58.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795533 ms (missed cycles : 4). + 58.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795533 ms (missed cycles : 4).[0m ×2 + 59.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808215 ms (missed cycles : 3). + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808215 ms (missed cycles : 3).[0m ×2 + 60.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005058 ms (missed cycles : 2). + 60.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005058 ms (missed cycles : 2).[0m ×2 + 60.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 61.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562187 ms (missed cycles : 2). + 61.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562187 ms (missed cycles : 2).[0m ×2 + 61.45sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786476333.72164869 seconds ×3 + 61.52sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.52sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 61.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.014ms + 61.62sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.65) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.62sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.770ms + 62.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.632ms + 62.02sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786476334.29260564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.586ms + 62.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496057 ms (missed cycles : 3). + 62.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496057 ms (missed cycles : 3).[0m ×2 + 62.52sINFOobjective_server_nodeFound path in 0 iterations (7.93e-07 s). ×2 + 62.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.313ms + 63.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.757ms + 63.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806427 ms (missed cycles : 2). + 63.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806427 ms (missed cycles : 2).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	54.5s	185 warnings · 168 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms ×2 + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.11sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786476133.92881083 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.23sWARNlocal_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. + 4.23sWARNlocal_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. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.39, 11.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-4.29, 11.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.077ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786476134.49656534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.546ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.049ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.204ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms + 6.98sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.03sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.03sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.03sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.558ms + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.008ms + 7.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731990 ms (missed cycles : 3). + 7.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.731990 ms (missed cycles : 3).[0m ×2 + 7.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.097ms + 8.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.179ms + 8.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.603ms + 8.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654961 ms (missed cycles : 3). + 8.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.654961 ms (missed cycles : 3).[0m ×2 + 8.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.858ms + 9.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561676 ms (missed cycles : 3). + 9.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.561676 ms (missed cycles : 3).[0m ×2 + 10.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.197ms + 10.70sINFOamclParticle filter update iteration stats: 4611 particles 723 points - 6.499ms + 10.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332621 ms (missed cycles : 2). + 10.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.332621 ms (missed cycles : 2).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 3783 particles 723 points - 7.721ms + 11.70sINFOamclParticle filter update iteration stats: 2836 particles 723 points - 4.089ms + 12.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808510 ms (missed cycles : 4). + 12.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.808510 ms (missed cycles : 4).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 2313 particles 723 points - 3.182ms + 12.70sINFOamclParticle filter update iteration stats: 1640 particles 723 points - 2.324ms + 13.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176955 ms (missed cycles : 2). + 13.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.176955 ms (missed cycles : 2).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 1.874ms + 13.70sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.594ms + 14.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339135 ms (missed cycles : 3). + 14.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.339135 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.254ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 15.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189742 ms (missed cycles : 2). + 15.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.189742 ms (missed cycles : 2).[0m ×2 + 15.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 15.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.425ms + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344366 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.344366 ms (missed cycles : 3).[0m ×2 + 17.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 17.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326538 ms (missed cycles : 2). + 17.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.326538 ms (missed cycles : 2).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.247ms + 18.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms ×2 + 18.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070260 ms (missed cycles : 4). + 18.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.070260 ms (missed cycles : 4).[0m ×2 + 18.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.433ms + 19.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.532ms + 19.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200677 ms (missed cycles : 3). + 19.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200677 ms (missed cycles : 3).[0m ×2 + 19.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.489ms + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.323ms + 20.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343927 ms (missed cycles : 3). + 20.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.343927 ms (missed cycles : 3).[0m ×2 + 20.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.975ms + 21.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 21.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867988 ms (missed cycles : 3). + 21.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.867988 ms (missed cycles : 3).[0m ×2 + 21.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms ×2 + 22.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860817 ms (missed cycles : 3). + 22.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.860817 ms (missed cycles : 3).[0m ×2 + 22.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.207ms + 23.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.462ms + 23.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024585 ms (missed cycles : 4). + 23.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.024585 ms (missed cycles : 4).[0m ×2 + 23.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.294ms + 24.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.934ms + 24.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716359 ms (missed cycles : 2). + 24.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.716359 ms (missed cycles : 2).[0m ×2 + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms ×2 + 25.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182093 ms (missed cycles : 2). + 25.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.182093 ms (missed cycles : 2).[0m ×2 + 25.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 26.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 26.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410124 ms (missed cycles : 3). + 26.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.410124 ms (missed cycles : 3).[0m ×2 + 27.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.883ms ×2 + 27.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 27.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846019 ms (missed cycles : 2). + 27.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.846019 ms (missed cycles : 2).[0m ×2 + 28.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.314ms + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 28.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325832 ms (missed cycles : 4). + 28.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.325832 ms (missed cycles : 4).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 29.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835815 ms (missed cycles : 2). + 29.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.835815 ms (missed cycles : 2).[0m ×2 + 30.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.242ms + 30.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 30.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141355 ms (missed cycles : 2). + 30.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141355 ms (missed cycles : 2).[0m ×2 + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.225ms + 32.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605559 ms (missed cycles : 3). + 32.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605559 ms (missed cycles : 3).[0m ×2 + 32.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 33.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103078 ms (missed cycles : 4). + 33.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.103078 ms (missed cycles : 4).[0m ×2 + 34.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158947 ms (missed cycles : 2). + 34.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.158947 ms (missed cycles : 2).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467584 ms (missed cycles : 2). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.467584 ms (missed cycles : 2).[0m ×2 + 36.15sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818044 ms (missed cycles : 2). + 36.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.818044 ms (missed cycles : 2).[0m ×2 + 36.96sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.96sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 37.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140339 ms (missed cycles : 2). + 37.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.140339 ms (missed cycles : 2).[0m ×2 + 37.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.218ms + 38.20sINFOros2_control_nodeMuJoCo sim: 1.33% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852702 ms (missed cycles : 3). + 38.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.852702 ms (missed cycles : 3).[0m ×2 + 38.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.471ms + 39.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487337 ms (missed cycles : 2). + 39.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.487337 ms (missed cycles : 2).[0m ×2 + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.192ms + 40.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484412 ms (missed cycles : 4). + 40.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.484412 ms (missed cycles : 4).[0m ×2 + 40.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 41.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.138ms + 41.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.847ms + 41.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197385 ms (missed cycles : 4). + 41.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.197385 ms (missed cycles : 4).[0m ×2 + 42.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 42.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123849 ms (missed cycles : 2). + 42.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.123849 ms (missed cycles : 2).[0m ×2 + 43.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524671 ms (missed cycles : 2). + 43.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.524671 ms (missed cycles : 2).[0m ×2 + 44.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228174 ms (missed cycles : 4). + 44.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.228174 ms (missed cycles : 4).[0m ×2 + 45.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 45.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054075 ms (missed cycles : 3). + 45.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.054075 ms (missed cycles : 3).[0m ×2 + 45.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.894ms + 46.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322708 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.322708 ms (missed cycles : 2).[0m ×2 + 47.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 47.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584967 ms (missed cycles : 4). + 47.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.584967 ms (missed cycles : 4).[0m ×2 + 48.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 48.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727828 ms (missed cycles : 3). + 48.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.727828 ms (missed cycles : 3).[0m ×2 + 48.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 49.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 49.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965603 ms (missed cycles : 2). + 49.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.965603 ms (missed cycles : 2).[0m ×2 + 50.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818439 ms (missed cycles : 2). + 50.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.818439 ms (missed cycles : 2).[0m ×2 + 51.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.868ms + 51.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964482 ms (missed cycles : 3). + 51.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.964482 ms (missed cycles : 3).[0m ×2 + 53.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537009 ms (missed cycles : 3). + 53.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.537009 ms (missed cycles : 3).[0m ×2 + 53.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.890ms + 54.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863125 ms (missed cycles : 2). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.863125 ms (missed cycles : 2).[0m ×2 + 54.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 55.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632601 ms (missed cycles : 4). + 55.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632601 ms (missed cycles : 4).[0m ×2 + 55.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 56.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215549 ms (missed cycles : 2). + 56.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215549 ms (missed cycles : 2).[0m ×2 + 56.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 57.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684251 ms (missed cycles : 3). + 57.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684251 ms (missed cycles : 3).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 58.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538778 ms (missed cycles : 3). + 58.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538778 ms (missed cycles : 3).[0m ×2 + 58.66sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786476188.42672181 seconds ×3 + 58.73sWARNlocal_costmap.local_costmapSensor origin at (-1.85, 10.56) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.73sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.07) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 58.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.945ms + 58.83sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 4.15) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.83sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 4.35) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 58.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.119ms + 59.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.956ms + 59.24sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786476189.00538230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 59.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262818 ms (missed cycles : 2). + 59.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262818 ms (missed cycles : 2).[0m ×2 + 59.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.938ms + 59.64sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 59.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.501ms + 60.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.765ms + 60.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968508 ms (missed cycles : 2). + 60.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968508 ms (missed cycles : 2).[0m ×2 + 60.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.201ms + 60.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.183ms + 61.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.376ms + 61.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.047ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.6s	144 warnings · 142 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.09sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.09sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024082 ms (missed cycles : 2). + 6.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.024082 ms (missed cycles : 2).[0m ×2 + 8.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075189 ms (missed cycles : 2). + 8.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.075189 ms (missed cycles : 2).[0m ×2 + 9.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476033 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.476033 ms (missed cycles : 2).[0m ×2 + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977445 ms (missed cycles : 3). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.977445 ms (missed cycles : 3).[0m ×2 + 11.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879366 ms (missed cycles : 2). + 11.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.879366 ms (missed cycles : 2).[0m ×2 + 12.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353795 ms (missed cycles : 2). + 12.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.353795 ms (missed cycles : 2).[0m ×2 + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770213 ms (missed cycles : 2). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.770213 ms (missed cycles : 2).[0m ×2 + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402887 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.402887 ms (missed cycles : 3).[0m ×2 + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609667 ms (missed cycles : 3). + 15.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.609667 ms (missed cycles : 3).[0m ×2 + 16.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264255 ms (missed cycles : 2). + 16.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.264255 ms (missed cycles : 2).[0m ×2 + 17.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952852 ms (missed cycles : 2). + 17.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.952852 ms (missed cycles : 2).[0m ×2 + 18.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900343 ms (missed cycles : 3). + 18.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.900343 ms (missed cycles : 3).[0m ×2 + 19.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185501 ms (missed cycles : 2). + 19.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.185501 ms (missed cycles : 2).[0m ×2 + 20.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258751 ms (missed cycles : 2). + 20.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.258751 ms (missed cycles : 2).[0m ×2 + 20.80sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.257ms + 21.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224525 ms (missed cycles : 2). + 21.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.224525 ms (missed cycles : 2).[0m ×2 + 22.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2). + 22.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967256 ms (missed cycles : 2).[0m ×2 + 23.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050459 ms (missed cycles : 2). + 23.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.050459 ms (missed cycles : 2).[0m ×2 + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728446 ms (missed cycles : 3). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.728446 ms (missed cycles : 3).[0m ×2 + 25.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278549 ms (missed cycles : 2). + 25.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.278549 ms (missed cycles : 2).[0m ×2 + 27.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329244 ms (missed cycles : 3). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.329244 ms (missed cycles : 3).[0m ×2 + 28.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481020 ms (missed cycles : 3). + 28.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481020 ms (missed cycles : 3).[0m ×2 + 29.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998371 ms (missed cycles : 2). + 29.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.998371 ms (missed cycles : 2).[0m ×2 + 30.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090384 ms (missed cycles : 4). + 30.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.090384 ms (missed cycles : 4).[0m ×2 + 31.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841220 ms (missed cycles : 3). + 31.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.841220 ms (missed cycles : 3).[0m ×2 + 32.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684645 ms (missed cycles : 3). + 32.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684645 ms (missed cycles : 3).[0m ×2 + 33.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998852 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.998852 ms (missed cycles : 2).[0m ×2 + 34.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467026 ms (missed cycles : 3). + 34.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.467026 ms (missed cycles : 3).[0m ×2 + 35.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144993 ms (missed cycles : 2). + 35.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.144993 ms (missed cycles : 2).[0m ×2 + 36.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698519 ms (missed cycles : 2). + 36.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.698519 ms (missed cycles : 2).[0m ×2 + 37.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848864 ms (missed cycles : 2). + 37.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.848864 ms (missed cycles : 2).[0m ×2 + 38.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203352 ms (missed cycles : 3). + 38.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.203352 ms (missed cycles : 3).[0m ×2 + 39.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576858 ms (missed cycles : 2). + 39.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.576858 ms (missed cycles : 2).[0m ×2 + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791996 ms (missed cycles : 2). + 40.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.791996 ms (missed cycles : 2).[0m ×2 + 42.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813572 ms (missed cycles : 2). + 42.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.813572 ms (missed cycles : 2).[0m ×2 + 43.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752627 ms (missed cycles : 2). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.752627 ms (missed cycles : 2).[0m ×2 + 44.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3). + 44.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3).[0m ×2 + 45.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2). + 45.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2).[0m ×2 + 46.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2). + 46.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2).[0m ×2 + 47.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3). + 47.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3).[0m ×2 + 47.74sINFOjoint_trajectory_controllerGoal reached, success! + 47.74sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.75sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786476035.20563364 seconds ×3 + 48.30sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786476035.76444817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4). + 48.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4).[0m ×2 + 49.49sINFOobjective_server_nodeFound path in 0 iterations (3.4122e-05 s). ×2 + 49.49sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.50sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3). + 49.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.4s	115 warnings · 115 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 0.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms + 1.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.490ms + 1.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697878 ms (missed cycles : 3). + 1.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697878 ms (missed cycles : 3).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966492 ms (missed cycles : 2). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966492 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 3.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.01sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786476101.52181149 seconds ×3 + 3.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463901 ms (missed cycles : 3). + 3.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463901 ms (missed cycles : 3).[0m ×2 + 4.02sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671286 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671286 ms (missed cycles : 3).[0m ×2 + 4.57sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786476103.07866287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.59sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.59sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.99sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 5.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425128 ms (missed cycles : 3). + 5.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425128 ms (missed cycles : 3).[0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506496 ms (missed cycles : 3). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506496 ms (missed cycles : 3).[0m ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.01sINFOjoint_trajectory_controllerReceived new action goal + 7.01sINFOjoint_trajectory_controllerAccepted new action goal + 7.01sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.01sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096352 ms (missed cycles : 2). + 7.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.096352 ms (missed cycles : 2).[0m ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014747 ms (missed cycles : 3). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.014747 ms (missed cycles : 3).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.321ms + 9.45sINFOros2_control_nodeMuJoCo sim: 1.17% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496505 ms (missed cycles : 3). + 9.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496505 ms (missed cycles : 3).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.866ms + 10.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.209ms + 10.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041454 ms (missed cycles : 3). + 10.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.041454 ms (missed cycles : 3).[0m ×2 + 10.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.275ms + 11.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.379ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385848 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.385848 ms (missed cycles : 3).[0m ×2 + 11.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.719ms + 12.25sINFOamclParticle filter update iteration stats: 3793 particles 723 points - 5.312ms + 12.75sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 4.326ms + 12.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098227 ms (missed cycles : 3). + 12.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.098227 ms (missed cycles : 3).[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 1268 particles 723 points - 2.939ms + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.336ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128492 ms (missed cycles : 4). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.128492 ms (missed cycles : 4).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.293ms + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.089ms ×2 + 14.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084662 ms (missed cycles : 4). + 14.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.084662 ms (missed cycles : 4).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.677ms + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 15.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007666 ms (missed cycles : 2). + 15.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.007666 ms (missed cycles : 2).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 16.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305563 ms (missed cycles : 2). + 16.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.305563 ms (missed cycles : 2).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.472ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 17.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879209 ms (missed cycles : 3). + 17.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879209 ms (missed cycles : 3).[0m ×2 + 18.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 18.74sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.042ms + 18.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764230 ms (missed cycles : 3). + 18.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764230 ms (missed cycles : 3).[0m ×2 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.299ms + 20.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709699 ms (missed cycles : 3). + 20.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.709699 ms (missed cycles : 3).[0m ×2 + 20.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.994ms + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms ×3 + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867508 ms (missed cycles : 3). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.867508 ms (missed cycles : 3).[0m ×2 + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 22.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879324 ms (missed cycles : 2). + 22.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.879324 ms (missed cycles : 2).[0m ×2 + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 23.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862938 ms (missed cycles : 3). + 23.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.862938 ms (missed cycles : 3).[0m ×2 + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.969ms + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.415ms + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.612ms + 24.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300152 ms (missed cycles : 2). + 24.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.300152 ms (missed cycles : 2).[0m ×2 + 24.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 25.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832911 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832911 ms (missed cycles : 3).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.006ms + 26.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524013 ms (missed cycles : 4). + 26.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.524013 ms (missed cycles : 4).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 27.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821413 ms (missed cycles : 4). + 27.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.821413 ms (missed cycles : 4).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 28.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488050 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.488050 ms (missed cycles : 3).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 29.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619189 ms (missed cycles : 3). + 29.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.619189 ms (missed cycles : 3).[0m ×2 + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.619ms + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 30.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454366 ms (missed cycles : 4). + 30.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.454366 ms (missed cycles : 4).[0m ×2 + 30.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.164ms + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 31.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5). + 31.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5).[0m ×2 + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 32.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 32.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3). + 32.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3).[0m ×2 + 33.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5).[0m ×2 + 33.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 34.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3). + 34.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3).[0m ×2 + 35.42sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786476133.92881083 seconds ×3 + 35.48sWARNlocal_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. + 35.48sWARNlocal_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. + 35.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 35.58sWARNlocal_costmap.local_costmapSensor origin at (-3.39, 11.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.58sWARNlocal_costmap.local_costmapSensor origin at (-4.29, 11.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.65sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.077ms + 35.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3). + 35.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3).[0m ×2 + 35.96sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 35.98sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786476134.49656534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.546ms + 36.39sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 36.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.049ms + 36.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3). + 36.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3).[0m ×2 + 36.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 37.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.204ms + 37.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 37.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 37.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2). + 37.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2).[0m ×2 + 38.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	14.1s	64 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244003 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.244003 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795533 ms (missed cycles : 4). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.795533 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808215 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.808215 ms (missed cycles : 3).[0m ×2 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005058 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.005058 ms (missed cycles : 2).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.091ms + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562187 ms (missed cycles : 2). + 4.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.562187 ms (missed cycles : 2).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.22sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.26sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786476333.72164869 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.92) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.014ms + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-0.30, 2.65) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.43sWARNlocal_costmap.local_costmapSensor origin at (-1.20, 2.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.770ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.632ms + 4.83sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786476334.29260564 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.85sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.586ms + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496057 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.496057 ms (missed cycles : 3).[0m ×2 + 5.32sINFOobjective_server_nodeFound path in 0 iterations (7.93e-07 s). ×2 + 5.36sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.37sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.37sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.37sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.38sINFOros2_control_nodeAccepted new action goal[0m ×4 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.313ms + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.757ms + 6.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806427 ms (missed cycles : 2). + 6.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.806427 ms (missed cycles : 2).[0m ×2 + 7.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.110ms + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721399 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.721399 ms (missed cycles : 2).[0m ×2 + 8.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.522ms + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703678 ms (missed cycles : 3). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.703678 ms (missed cycles : 3).[0m ×2 + 9.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919526 ms (missed cycles : 2). + 9.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.919526 ms (missed cycles : 2).[0m ×2 + 9.67sINFOobjective_server_nodeFound path in 0 iterations (3.55e-07 s). ×2 + 9.70sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.74sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 9.80sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.84sINFOobjective_server_nodeFound path in 0 iterations (4.1e-07 s). ×2 + 9.93sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.97sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 10.23sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 10.29sINFOobjective_server_nodeFound path in 0 iterations (4.33e-07 s). ×2 + 10.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373577 ms (missed cycles : 3). + 10.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373577 ms (missed cycles : 3).[0m ×2 + 10.60sINFOobjective_server_nodeFound path in 33 iterations (0.0328523 s). ×2 + 10.95sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 11.01sINFOobjective_server_nodeFound path in 0 iterations (4.5e-07 s). ×2 + 11.46sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 11.51sINFOobjective_server_nodeFound path in 0 iterations (8.16e-07 s). ×2 + 11.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217165 ms (missed cycles : 3). + 11.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217165 ms (missed cycles : 3).[0m ×2 + 11.94sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 12.24sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 12.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832882 ms (missed cycles : 3). + 12.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.832882 ms (missed cycles : 3).[0m ×2 + 13.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184721 ms (missed cycles : 3). + 13.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.184721 ms (missed cycles : 3).[0m ×2 + 14.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 14.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346835 ms (missed cycles : 3). + 14.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346835 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 15.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.006ms + 15.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2). + 15.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 16.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.602ms + 16.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3). + 16.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3).[0m ×2 + 17.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.518ms + 17.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3). + 17.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3).[0m ×2 + 18.33sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786476347.79578114 seconds ×3 + 18.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.743ms + 18.51sINFOros2_control_nodeMuJoCo sim: 2.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 18.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.819ms + 18.93sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476348.39222145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.93sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.93sINFOmove_groupClearing octomap...[0m ×2 + 18.93sINFOmove_groupOctomap cleared.[0m ×2 + 19.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2). + 19.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2).[0m ×2 + 19.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.308ms + 19.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.586ms + 19.64sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476349.10234594 seconds ×3 + 19.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.750ms + 19.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.334ms + 20.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2). + 20.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2).[0m ×2 + 20.19sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476349.65545702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 20.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.109ms + 20.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 20.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476350.22558498 seconds ×3 + 20.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.2s	94 errors · 33 warnings · 401 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.006ms + 0.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2). + 0.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2).[0m ×2 + 0.59sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.602ms + 1.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3). + 1.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3).[0m ×2 + 2.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.518ms + 2.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3). + 2.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3).[0m ×2 + 2.90sINFOjoint_trajectory_controllerGoal reached, success! + 2.91sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.93sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786476347.79578114 seconds ×3 + 2.94sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.95sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.743ms + 3.10sINFOros2_control_nodeMuJoCo sim: 2.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.819ms + 3.52sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476348.39222145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.52sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.52sINFOmove_groupClearing octomap...[0m ×2 + 3.52sINFOmove_groupOctomap cleared.[0m ×2 + 3.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2). + 3.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.308ms + 4.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.586ms + 4.23sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476349.10234594 seconds ×3 + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.750ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.334ms + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2).[0m ×2 + 4.79sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476349.65545702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.109ms + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 5.36sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476350.22558498 seconds ×3 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 5.60sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911941 ms (missed cycles : 3). + 5.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.631ms + 6.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911941 ms (missed cycles : 3).[0m ×2 + 6.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.283ms + 6.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399466 ms (missed cycles : 3). + 6.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399466 ms (missed cycles : 3).[0m ×2 + 7.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605892 ms (missed cycles : 3). + 7.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.605892 ms (missed cycles : 3).[0m ×2 + 8.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948561 ms (missed cycles : 3). + 8.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.948561 ms (missed cycles : 3).[0m ×2 + 9.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761731 ms (missed cycles : 3). + 9.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.761731 ms (missed cycles : 3).[0m ×2 + 10.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565260 ms (missed cycles : 3). + 10.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.565260 ms (missed cycles : 3).[0m ×2 + 11.03sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.03sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.07sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORweb_video_auth_proxy-35process has died [pid 9593, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3202 --upstream-port 13202 --ros-args']. ×2 + 11.08sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.08sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.09sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.10sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.11sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.12sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.13sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.14sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.15sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.16sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.17sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.18sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.20sERRORweb_bridge_auth_proxy-34process has died [pid 9592, exit code -15, cmd '/opt/overlay_ws/install/moveit_studio_bridge/lib/moveit_studio_bridge/auth_proxy --listen-port 3201 --upstream-port 13201 --ros-args']. ×2 + 11.20sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.22sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.25sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.27sINFOvideo_server-33process has finished cleanly [pid 9591] ×2 + 11.28sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.30sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.32sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.35sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.38sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.41sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.45sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.49sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.51sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9590] ×2 + 11.52sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.55sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.58sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.59sINFOcontroller_managerShutdown request received.... + 11.59sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.59sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.59sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.59sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.59sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.59sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.59sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.59sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.59sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.59sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.59sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.59sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.59sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.59sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.59sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.59sINFOcontroller_managerShutting down the controller manager. + 11.61sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.61sERRORmove_group-21process has died [pid 9574, 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_7iq8nhjk --params-file /tmp/launch_params__e_3x8t6 --params-file /tmp/launch_params_gik2_aaf --params-file /tmp/launch_params_crzmuhzp --params-file /tmp/launch_params_clzagyvz --params-file /tmp/launch_params_9vk7gf8o']. ×2 + 11.61sINFOui_teleop_bridge-30process has finished cleanly [pid 9588] ×2 + 11.61sINFOcomponent_container_mt-28process has finished cleanly [pid 9586] ×2 + 11.63sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.65sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.66sINFOexecute_objective_bridge-29process has finished cleanly [pid 9587] ×2 + 11.67sINFOlocal_costmap.local_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786476356.237 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.67sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.69sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.71sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.73sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.73sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.73sINFOmap_serverDeactivating + 11.73sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.75sINFOmap_serverCleaning up + 11.75sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.75sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.75sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.75sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.76sINFOcontroller_serverDeactivating + 11.76sINFOlocal_costmap.local_costmapDeactivating + 11.76sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.76sINFOvideo_server2026/08/11 19:25:56 INF shutting down gracefully ×2 + 11.76sINFOvideo_server2026/08/11 19:25:56 INF [WebRTC] closing ×2 + 11.76sINFOvideo_server2026/08/11 19:25:56 INF [RTSP] closing ×2 + 11.76sINFOvideo_server2026/08/11 19:25:56 INF waiting for running hooks ×2 + 11.76sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.76sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.76sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.76sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.76sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.76sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.76sERRORamclThe bond connection to the lifecycle manager has been broken + 11.76sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.77sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.77sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.77sERRORmove_groupStack trace (most recent call last) in thread 10202: ×2 + 11.77sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.77sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f69530caa63, in __clone ×2 + 11.77sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f695303daa3, in ×2 + 11.77sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f69532cfdb3, in ×2 + 11.77sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f6953a40637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.77sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6953661620, in rclcpp::Rate::sleep() ×2 + 11.77sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f69535a3d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.77sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f6953565087, in ×2 + 11.77sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f695329e390, in __cxa_throw ×2 + 11.77sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6953288a54, in std::terminate() ×2 + 11.77sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f695329e0d9, in ×2 + 11.77sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f6953288ff4, in ×2 + 11.77sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6952fc98fe, in abort ×2 + 11.77sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f6952fe627d, in raise ×2 + 11.77sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f695303fb2c, in pthread_kill ×2 + 11.77sERRORmove_groupAborted (Signal sent by tkill() 9574 0) ×2 + 11.77sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.77sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.77sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.77sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.77sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.77sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.77sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.77sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.77sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.77sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.77sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.77sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.77sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.77sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.77sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.77sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.78sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.78sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.78sINFOodom_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 + 11.78sINFOodom_qos_relay.pymain() ×2 + 11.78sINFOodom_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 + 11.78sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.78sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.78sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.78sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.78sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.78sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.78sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.78sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.78sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.78sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.78sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.79sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.80sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 11.80sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 11.81sINFOros2_control_nodepublish_async_failures_ 5[0m ×2 + 11.82sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.83sINFOcontroller_serverCleaning up + 11.83sINFOlocal_costmap.local_costmapCleaning up + 11.88sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 11.88sINFOsmoother_serverDeactivating + 11.88sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 11.89sINFOsmoother_serverCleaning up + 11.91sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 11.91sINFOplanner_serverDeactivating + 11.91sINFOglobal_costmap.global_costmapDeactivating + 11.96sERRORcomponent_container_isolated-2process has died [pid 9460, 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_xyvcbc74 --params-file /tmp/launch_params_ve5sbw6c -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 11.99sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 11.99sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 11.99sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 11.99sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 11.99sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 11.99sINFOvelocity_smootherDeactivating + 11.99sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.10sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.10sINFOwaypoint_followerDeactivating + 12.10sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.22sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.22sINFObt_navigatorDeactivating + 12.22sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.33sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.33sINFObehavior_serverDeactivating + 12.33sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.44sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.44sERRORplanner_serverUnable to start transition 4 from current state deactivating: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.44sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.44sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.44sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.44sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.44sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.45sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.45sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.45sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.45sINFOvelocity_smootherCleaning up + 12.45sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.45sINFOwaypoint_followerCleaning up + 12.47sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9581] ×2 + 12.48sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.48sINFObt_navigatorCleaning up + 12.52sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9580] ×2 + 12.54sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.54sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.56sINFOplanner_serverCleaning up + 12.57sINFOglobal_costmap.global_costmapCleaning up + 12.57sINFOcomponent_container_mt-27process has finished cleanly [pid 9585] ×2 + 12.58sINFOwaypoint_manager_node-23process has finished cleanly [pid 9576] ×2 + 12.58sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.58sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.58sINFOparameter_manager_node-22process has finished cleanly [pid 9575] ×2 + 12.59sINFOobjective_server_node[2026-08-11 19:25:57.457] [moveit_pro_license] [info] ×2 + 12.59sINFOobjective_server_node************************************************* ×4 + 12.59sINFOobjective_server_node* MoveIt Pro License ×2 + 12.59sINFOobjective_server_node* Application has successfully terminated ×2 + 12.61sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.61sINFObehavior_serverCleaning up + 12.62sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.62sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.62sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.62sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.65sINFOobjective_server_node_main-26process has finished cleanly [pid 9582] ×2 + 12.66sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.66sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9466] ×2 + 12.66sINFObt_navigatorCompleted Cleaning up + 12.66sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.68sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9465] ×2 + 12.71sERRORbehavior_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.71sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.72sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.72sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.72sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.72sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.72sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.72sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.73sINFOstatic_transform_publisher-4process has finished cleanly [pid 9462] ×2 + 12.76sINFOstatic_transform_publisher-3process has finished cleanly [pid 9461] ×2 + 12.76sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9464] ×2 + 12.78sERRORodom_qos_relay.py-5process has died [pid 9463, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 12.99sERRORcomponent_container_isolated-1process has died [pid 9459, 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_xyvcbc74 --params-file /tmp/launch_params_ysizna8l -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 14.32sINFOros2_control_node-9process has finished cleanly [pid 9467] ×2 + 14.33sINFOweb_bridge-31process has finished cleanly [pid 9589] ×2 + 14.33sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	11.0s	3 errors · 59 warnings · 94 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 0.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632601 ms (missed cycles : 4). + 0.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.632601 ms (missed cycles : 4).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.136ms + 1.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215549 ms (missed cycles : 2). + 1.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215549 ms (missed cycles : 2).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.456ms + 2.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684251 ms (missed cycles : 3). + 2.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.684251 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 3.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538778 ms (missed cycles : 3). + 3.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.538778 ms (missed cycles : 3).[0m ×2 + 4.24sINFOjoint_trajectory_controllerGoal reached, success! + 4.24sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.27sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786476188.42672181 seconds ×3 + 4.28sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.29sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-1.85, 10.56) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.34sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.07) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.945ms + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-0.47, 4.15) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.44sWARNlocal_costmap.local_costmapSensor origin at (-1.35, 4.35) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.119ms + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.956ms + 4.85sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786476189.00538230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262818 ms (missed cycles : 2). + 4.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.262818 ms (missed cycles : 2).[0m ×2 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.12sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.938ms + 5.25sINFOobjective_server_nodeFound path in 0 iterations (4.67e-07 s). ×2 + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.501ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.765ms + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968508 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.968508 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.201ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.183ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.376ms + 6.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.047ms + 7.06sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 7.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559465 ms (missed cycles : 4). + 7.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.559465 ms (missed cycles : 4).[0m ×2 + 7.11sINFOjoint_trajectory_controllerReceived new action goal + 7.11sINFOjoint_trajectory_controllerAccepted new action goal + 7.11sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.11sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.168ms + 7.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.868ms + 7.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.478ms + 8.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.967019 ms (missed cycles : 5). + 8.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.967019 ms (missed cycles : 5).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 4859 particles 723 points - 7.731ms + 8.51sINFOamclParticle filter update iteration stats: 3409 particles 723 points - 6.323ms + 8.90sINFOamclParticle filter update iteration stats: 2355 particles 723 points - 3.804ms + 9.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683516 ms (missed cycles : 3). + 9.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.683516 ms (missed cycles : 3).[0m ×2 + 10.09sINFOamclParticle filter update iteration stats: 1608 particles 723 points - 3.456ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504263 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.504263 ms (missed cycles : 3).[0m ×2 + 10.70sINFOamclParticle filter update iteration stats: 1108 particles 723 points - 1.584ms + 11.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 11.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478793 ms (missed cycles : 3). + 11.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478793 ms (missed cycles : 3).[0m ×2 + 11.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.786ms + 12.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.632ms + 12.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451654 ms (missed cycles : 3). + 12.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.451654 ms (missed cycles : 3).[0m ×2 + 12.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 13.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 13.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548830 ms (missed cycles : 3). + 13.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.548830 ms (missed cycles : 3).[0m ×2 + 13.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 14.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 14.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726733 ms (missed cycles : 3). + 14.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.726733 ms (missed cycles : 3).[0m ×2 + 14.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 15.25sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.25sINFOjoint_trajectory_controllerGot request to cancel goal + 15.25sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 15.25sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 15.25sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 15.26sERRORobjective_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: 1786476199.42276216 seconds ×3 + 15.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms + 15.34sWARNlocal_costmap.local_costmapSensor origin at (-0.74, 3.97) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 15.34sWARNlocal_costmap.local_costmapSensor origin at (-1.64, 3.90) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 15.40sINFOamclParticle filter update iteration stats: 1193 particles 723 points - 1.714ms + 15.44sWARNlocal_costmap.local_costmapSensor origin at (-0.46, 3.00) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 15.44sWARNlocal_costmap.local_costmapSensor origin at (-1.36, 2.94) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.477ms + 15.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332874 ms (missed cycles : 3). + 15.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.332874 ms (missed cycles : 3).[0m ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.394ms + 15.83sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786476199.99263716 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.216ms + 16.24sINFOobjective_server_nodeFound path in 0 iterations (5.19e-07 s). ×2 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.066ms + 16.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.232ms + 16.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174967 ms (missed cycles : 2). + 16.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.174967 ms (missed cycles : 2).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.316ms + 17.31sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 7.809ms + 17.61sINFOamclParticle filter update iteration stats: 3138 particles 723 points - 5.455ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048859 ms (missed cycles : 4). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.048859 ms (missed cycles : 4).[0m ×2 + 17.90sINFOamclParticle filter update iteration stats: 1735 particles 723 points - 3.070ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.8s	38 warnings · 58 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.55sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.490ms + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697878 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.697878 ms (missed cycles : 3).[0m ×2 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966492 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.966492 ms (missed cycles : 2).[0m ×2 + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.055ms + 8.35sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786476101.52181149 seconds ×3 + 8.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463901 ms (missed cycles : 3). + 8.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.463901 ms (missed cycles : 3).[0m ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671286 ms (missed cycles : 3). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.671286 ms (missed cycles : 3).[0m ×2 + 9.91sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786476103.07866287 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.34sINFOobjective_server_nodeFound path in 0 iterations (3.91e-07 s). ×2 + 10.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425128 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.425128 ms (missed cycles : 3).[0m ×2 + 11.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506496 ms (missed cycles : 3). + 11.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506496 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	5.0s	35 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602956 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.602956 ms (missed cycles : 3).[0m ×2 + 0.07sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.855ms + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324839 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.324839 ms (missed cycles : 4).[0m ×2 + 1.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.281ms + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518756 ms (missed cycles : 3). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.518756 ms (missed cycles : 3).[0m ×2 + 2.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.130ms + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.318ms + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869776 ms (missed cycles : 2). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.869776 ms (missed cycles : 2).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.07sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786476271.46282196 seconds ×3 + 4.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.09sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787805 ms (missed cycles : 2). + 4.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.787805 ms (missed cycles : 2).[0m ×2 + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-2.29, 13.86) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.20sWARNlocal_costmap.local_costmapSensor origin at (-3.08, 13.44) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.404ms + 4.56sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 4.63sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786476272.02330995 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.71sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.293ms + 5.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 5.20sINFOjoint_trajectory_controllerReceived new action goal + 5.20sINFOjoint_trajectory_controllerAccepted new action goal + 5.20sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.20sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 6.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 6.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 6.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 7.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 8.17sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 8.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 8.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 9.05sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 9.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 9.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.02sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 10.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.9s	30 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.52sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786476035.20563364 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786476035.76444817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.4122e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3).[0m ×2 + 6.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167172 ms (missed cycles : 4). + 6.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167172 ms (missed cycles : 4).[0m ×2 + 7.40sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786476039.07458043 seconds ×3 + 7.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029855 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029855 ms (missed cycles : 2).[0m ×2 + 7.97sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786476039.64303088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.35sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 8.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197035 ms (missed cycles : 2). + 8.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197035 ms (missed cycles : 2).[0m ×2 + 9.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036407 ms (missed cycles : 3). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036407 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	24 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346835 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346835 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.006ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.602ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.518ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3).[0m ×2 + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786476347.79578114 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.743ms + 4.41sINFOros2_control_nodeMuJoCo sim: 2.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.819ms + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476348.39222145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.308ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.586ms + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476349.10234594 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.750ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.334ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476349.65545702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.109ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476350.22558498 seconds ×3 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms + 6.90sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911941 ms (missed cycles : 3). + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.631ms + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.911941 ms (missed cycles : 3).[0m ×2 + 7.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.283ms + 7.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399466 ms (missed cycles : 3). + 7.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.399466 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786476035.20563364 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786476035.76444817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.4122e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	18 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.712109 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624317 ms (missed cycles : 2).[0m ×2 + 2.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2). + 2.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.957672 ms (missed cycles : 2).[0m ×2 + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3).[0m ×2 + 3.52sINFOjoint_trajectory_controllerGoal reached, success! + 3.52sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.53sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786476035.20563364 seconds ×3 + 3.54sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.55sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.09sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786476035.76444817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4). + 4.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4).[0m ×2 + 5.27sINFOobjective_server_nodeFound path in 0 iterations (3.4122e-05 s). ×2 + 5.28sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.28sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.28sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.30sINFOjoint_trajectory_controllerReceived new action goal + 5.30sINFOjoint_trajectory_controllerAccepted new action goal + 5.30sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.30sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	21 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.753634 ms (missed cycles : 3).[0m ×2 + 0.37sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.37sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.38sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786476035.20563364 seconds ×3 + 0.39sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.40sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.94sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786476035.76444817 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.479274 ms (missed cycles : 4).[0m ×2 + 2.12sINFOobjective_server_nodeFound path in 0 iterations (3.4122e-05 s). ×2 + 2.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 2.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 2.13sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 2.15sINFOjoint_trajectory_controllerReceived new action goal + 2.15sINFOjoint_trajectory_controllerAccepted new action goal + 2.15sINFOros2_control_nodeReceived new action goal[0m ×2 + 2.15sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3). + 2.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.915033 ms (missed cycles : 3).[0m ×2 + 3.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167172 ms (missed cycles : 4). + 3.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167172 ms (missed cycles : 4).[0m ×2 + 4.25sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786476039.07458043 seconds ×3 + 4.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029855 ms (missed cycles : 2). + 4.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029855 ms (missed cycles : 2).[0m ×2 + 4.82sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786476039.64303088 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.20sINFOobjective_server_nodeFound path in 0 iterations (2.9e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197035 ms (missed cycles : 2). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197035 ms (missed cycles : 2).[0m ×2 + 6.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036407 ms (missed cycles : 3). + 6.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.036407 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	20 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	20 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	20 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms
− skipped	Move Boxes to Loading Zone Start from Waypoint	move_boxes_to_loading_zone_from_waypoint.xml	0.0s	20 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	20 warnings · 35 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.525153 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.789385 ms (missed cycles : 2).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.793291 ms (missed cycles : 3).[0m ×2 + 2.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.805936 ms (missed cycles : 2).[0m ×2 + 3.55sINFOjoint_trajectory_controllerGoal reached, success! + 3.55sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.58sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786476096.75316548 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-2.98, 12.93) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.73sWARNlocal_costmap.local_costmapSensor origin at (-3.88, 12.96) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 3.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.346ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.146ms + 4.17sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786476097.34166431 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.21sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.486489 ms (missed cycles : 4).[0m ×2 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.015ms + 4.61sINFOobjective_server_nodeFound path in 0 iterations (3.35e-07 s). ×2 + 4.64sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.65sINFOjoint_trajectory_controllerReceived new action goal + 4.65sINFOjoint_trajectory_controllerAccepted new action goal + 4.65sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.65sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.184ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2). + 5.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.854379 ms (missed cycles : 2).[0m ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.657ms
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	25 warnings · 37 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786476133.92881083 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNlocal_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. + 4.23sWARNlocal_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. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.39, 11.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-4.29, 11.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.077ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786476134.49656534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.546ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.049ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.204ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	25 warnings · 37 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786476133.92881083 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNlocal_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. + 4.23sWARNlocal_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. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.39, 11.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-4.29, 11.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.077ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786476134.49656534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.546ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.049ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.204ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	25 warnings · 37 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 0.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5). + 0.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.901056 ms (missed cycles : 5).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.578ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 1.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3). + 1.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.997287 ms (missed cycles : 3).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.926ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 2.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5). + 2.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.717353 ms (missed cycles : 5).[0m ×2 + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3). + 3.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.353605 ms (missed cycles : 3).[0m ×2 + 4.11sINFOjoint_trajectory_controllerGoal reached, success! + 4.11sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786476133.92881083 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.19sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.23sWARNlocal_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. + 4.23sWARNlocal_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. + 4.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.109ms + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-3.39, 11.99) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.33sWARNlocal_costmap.local_costmapSensor origin at (-4.29, 11.96) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.077ms + 4.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3). + 4.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.074009 ms (missed cycles : 3).[0m ×2 + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.263ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786476134.49656534 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.76sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.76sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.546ms + 5.14sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.049ms + 5.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3). + 5.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.296667 ms (missed cycles : 3).[0m ×2 + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.001ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.204ms + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.269ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.611ms + 6.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2). + 6.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.927601 ms (missed cycles : 2).[0m ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.907ms
− 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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[0m ×2
− 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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Close Gripper	close_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2
− skipped	Open Gripper	open_gripper.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[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 - 11.293ms + 0.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.399ms + 0.32sINFOjoint_trajectory_controllerReceived new action goal + 0.32sINFOjoint_trajectory_controllerAccepted new action goal + 0.32sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.32sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2). + 0.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.187892 ms (missed cycles : 2).[0m ×2 + 1.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.560ms + 1.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.337165 ms (missed cycles : 3).[0m ×2 + 2.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.472ms + 2.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3). + 2.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.603490 ms (missed cycles : 3).[0m ×2 + 3.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.278ms + 3.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2). + 3.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.862488 ms (missed cycles : 2).[0m ×2 + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786476276.44345760 seconds ×3 + 4.21sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.22sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2). + 4.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.432504 ms (missed cycles : 2).[0m ×2 + 4.76sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786476277.03151202 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.78sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.78sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.15sINFOobjective_server_nodeFound path in 0 iterations (3.63e-07 s). ×2 + 5.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3). + 5.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.958720 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 0.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346835 ms (missed cycles : 3). + 0.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.346835 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.762ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.006ms + 1.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2). + 1.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.169049 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.251ms + 2.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.602ms + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.428663 ms (missed cycles : 3).[0m ×2 + 3.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.518ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.865457 ms (missed cycles : 3).[0m ×2 + 4.21sINFOjoint_trajectory_controllerGoal reached, success! + 4.21sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.23sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786476347.79578114 seconds ×3 + 4.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.743ms + 4.41sINFOros2_control_nodeMuJoCo sim: 2.14% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 4.69sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.819ms + 4.83sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786476348.39222145 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.83sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.83sINFOmove_groupClearing octomap...[0m ×2 + 4.83sINFOmove_groupOctomap cleared.[0m ×2 + 4.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2). + 4.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.371238 ms (missed cycles : 2).[0m ×2 + 5.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.308ms + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.586ms + 5.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786476349.10234594 seconds ×3 + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.750ms + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.334ms + 5.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2). + 5.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856140 ms (missed cycles : 2).[0m ×2 + 6.09sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786476349.65545702 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.109ms + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.825ms + 6.66sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786476350.22558498 seconds ×3 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.316ms

▾/__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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 6.82sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.82sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 6.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 7.12sINFOjoint_trajectory_controllerReceived new action goal + 7.12sINFOjoint_trajectory_controllerAccepted new action goal + 7.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.12sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171885 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171885 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 2.59sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.29sINFOmove_groupClearing octomap...[0m ×2 + 4.30sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 6.82sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.83sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.83sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.83sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.83sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.83sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.83sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.83sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 7.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	18 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171885 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.171885 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 2.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 2.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 2.59sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 3.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 3.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 3.75sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.75sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.29sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.29sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.29sINFOmove_groupClearing octomap...[0m ×2 + 4.30sINFOmove_groupOctomap cleared.[0m ×2 + 4.30sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 4.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 4.86sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.87sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 5.43sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.58sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 5.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 5.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 6.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.17sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 6.19sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.19sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.19sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.19sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.19sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.19sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.21sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.22sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.22sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.24sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.24sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.24sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.25sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3
− skipped	—	teleoperate.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2
− skipped	—	createvector.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2
− skipped	—	find_nearest_pose_in_path.xml	0.0s	18 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.033702 ms (missed cycles : 2).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 1.53sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 2.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 2.69sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.69sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.23sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.23sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.23sINFOmove_groupClearing octomap...[0m ×2 + 3.24sINFOmove_groupOctomap cleared.[0m ×2 + 3.24sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 3.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 3.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 3.80sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 4.37sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.52sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 4.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 4.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 5.10sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.11sINFOobjective_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 + 5.13sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.13sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.13sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.13sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.13sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.15sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.16sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.16sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.18sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.18sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 5.18sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 5.19sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 5.76sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.77sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.77sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.77sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.77sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.77sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.77sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.77sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 5.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2

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

10 skip

− 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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− 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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_joint_state.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[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 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	21 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.266921 ms (missed cycles : 4).[0m ×2 + 0.50sINFOros2_control_nodeMuJoCo sim: 1.45% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2). + 1.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.480118 ms (missed cycles : 2).[0m ×2 + 1.66sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.66sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.20sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786475989.66126084 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.20sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.20sINFOmove_groupClearing octomap...[0m ×2 + 2.21sINFOmove_groupOctomap cleared.[0m ×2 + 2.21sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786475989.67191362 seconds ×3 + 2.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2). + 2.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.479688 ms (missed cycles : 2).[0m ×2 + 2.77sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786475990.23278236 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.78sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786475990.24291611 seconds ×3 + 3.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786475990.79710460 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.49sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786475990.94767070 seconds ×3 + 3.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2). + 3.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.306307 ms (missed cycles : 2).[0m ×2 + 4.07sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786475991.53085065 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.08sINFOobjective_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 + 4.10sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.10sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.10sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.10sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.10sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.10sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.12sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.13sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.13sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.15sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.15sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.15sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.16sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786475991.62098742 seconds ×3 + 4.73sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786475992.18703175 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.74sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.74sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.74sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.74sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.74sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.74sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3). + 4.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.418715 ms (missed cycles : 3).[0m ×2 + 5.79sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.79sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2). + 5.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.409878 ms (missed cycles : 2).[0m ×2 + 6.09sINFOjoint_trajectory_controllerReceived new action goal + 6.09sINFOjoint_trajectory_controllerAccepted new action goal + 6.09sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.09sINFOros2_control_nodeAccepted new action goal[0m ×2