69
Total objective tests
18
Objectives passed
0
Objectives failed
51
Objectives skipped
22.5s
Avg test time
100%
Objective pass rate
▾
(no parent)1 pass
| ✓ passed | — | test_base_link_has_single_tf_parent | 32.2s | 12 errors · 305 warnings · 1225 info |
+ 0.00sINFOlaunchAll log files can be found below /__w/moveit_pro_example_ws/moveit_pro_example_ws/build/hangar_sim/test_results/hangar_sim/ros_logs/2026-08-12-16-20-20-145684-ddff663092e5-9393 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.90sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'odom' to 'world' + 13.91sINFOstatic_tf_world_to_mapSpinning until stopped - publishing transform
translation: ('0.000000', '0.000000', '0.000000')
rotation: ('0.000000', '0.000000', '0.000000', '1.000000')
from 'mj_world' to 'map' + 13.97sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 13.98sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 13.99sINFOcontroller_managerupdate rate is 600 Hz + 13.99sINFOcontroller_managerOverruns handling is : enabled + 13.99sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 13.99sWARNcontroller_managerCould not enable FIFO RT scheduling policy: with error number <1>(Operation not permitted). See [https://control.ros.org/master/doc/ros2_control/controller_manager/doc/userdoc.html] for details on how to enable realtime scheduling. + 14.00sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.01sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.01sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.265291 ms (missed cycles : 2). + 14.02sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.17sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.19sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.22sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.22sINFOnav2_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. + 14.25sINFOros2_control_node-9process started with pid [9451] ×2 + 14.25sINFOmove_group-21process started with pid [9558] ×2 + 14.25sINFOparameter_manager_node-22process started with pid [9559] ×2 + 14.25sINFOwaypoint_manager_node-23process started with pid [9560] ×2 + 14.25sINFOmove_joint_resampler_node-24process started with pid [9565] ×2 + 14.25sINFOmove_end_effector_resampler_node-25process started with pid [9566] ×2 + 14.25sINFOobjective_server_node_main-26process started with pid [9568] ×2 + 14.25sINFOcomponent_container_mt-27process started with pid [9569] ×2 + 14.27sINFOcomponent_container_mt-28process started with pid [9570] ×2 + 14.27sINFOexecute_objective_bridge-29process started with pid [9571] ×2 + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.27sINFOui_teleop_bridge-30process started with pid [9572] ×2 + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.27sINFOweb_bridge-31process started with pid [9573] ×2 + 14.27sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.27sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.27sINFOtf2_web_republisher_node-32process started with pid [9574] ×2 + 14.27sINFOvideo_server-33process started with pid [9575] ×2 + 14.27sINFOweb_bridge_auth_proxy-34process started with pid [9576] ×2 + 14.27sINFOweb_video_auth_proxy-35process started with pid [9577] ×2 + 14.28sINFOcomponent_container_isolated-1process started with pid [9443] ×2 + 14.28sINFOcomponent_container_isolated-2process started with pid [9444] ×2 + 14.28sINFOstatic_transform_publisher-3process started with pid [9445] ×2 + 14.28sINFOstatic_transform_publisher-4process started with pid [9446] ×2 + 14.28sINFOodom_qos_relay.py-5process started with pid [9447] ×2 + 14.28sINFOforward_stereo_publisher.py-6process started with pid [9448] ×2 + 14.28sINFOscan_to_scan_filter_chain-7process started with pid [9449] ×2 + 14.28sINFOscan_to_scan_filter_chain-8process started with pid [9450] ×2 + 14.28sINFOros2-10process started with pid [9529] ×2 + 14.28sINFOros2-11process started with pid [9532] ×2 + 14.28sINFOros2-12process started with pid [9549] ×2 + 14.28sINFOros2-13process started with pid [9550] ×2 + 14.28sINFOros2-14process started with pid [9551] ×2 + 14.28sINFOros2-15process started with pid [9552] ×2 + 14.28sINFOros2-16process started with pid [9553] ×2 + 14.28sINFOros2-17process started with pid [9554] ×2 + 14.30sINFOros2-18process started with pid [9555] ×2 + 14.30sINFOros2-19process started with pid [9556] ×2 + 14.30sINFOros2-20process started with pid [9557] ×2 + 14.33sINFOmap_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. + 14.33sINFOmap_serverCreating + 14.34sINFOcontroller_serverCreating controller server + 14.36sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.36sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.39sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.39sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.40sINFOlocal_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. + 14.42sINFOmoveit_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 + 14.42sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.42sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.42sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.42sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.42sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.42sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.43sINFOlocal_costmap.local_costmapCreating Costmap + 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 2.265291 ms (missed cycles : 2).[0m ×2 + 14.45sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.45sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.46sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.47sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.47sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.47sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.48sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.48sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.48sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.52sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.52sINFOsmoother_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. + 14.52sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.52sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.53sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.55sINFOrobot_state_publisherRobot initialized + 14.56sINFOlifecycle_manager_localizationCreating + 14.56sINFOsmoother_serverCreating smoother server + 14.56sINFOcontroller_managerReceived robot description from topic. + 14.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.57sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.58sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.58sINFOros2_control_nodeReceived robot description from topic.[0m ×2 + 14.58sINFOros2_control_nodeEnforcing command limits is disabled. Command limits from URDF will be ignored.[0m ×2 + 14.59sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.59sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.59sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.60sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.60sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.60sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.60sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.60sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.61sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.61sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.61sINFOmap_serverConfiguring + 14.62sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.64sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.64sINFOplanner_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. + 14.64sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.67sINFOplanner_serverCreating + 14.67sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.67sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.67sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.67sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×2 + 14.70sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.70sINFOamclConfiguring + 14.70sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.70sINFOmap_serverActivating + 14.70sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.71sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.72sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.72sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.73sINFOglobal_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. + 14.73sINFOglobal_costmap.global_costmapCreating Costmap + 14.75sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planner_server' in container '/nav2_container' ×2 + 14.76sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbehavior_server_core.so + 14.76sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.77sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.81sINFObehavior_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. + 14.82sINFOlifecycle_manager_localizationServer map_server connected with bond. + 14.82sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 14.82sINFOamclActivating + 14.82sINFOamclSubscribed to initial_pose_topic: /initialpose + 14.82sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 14.83sINFOamclSubscribed to map_topic: /map + 14.83sINFOamclSubscribed to scan_topic: /scan_merged + 14.84sINFOamclCreated reinitialize_global_localization service + 14.84sINFOamclCreated request_nomotion_update service + 14.84sINFOamclA new map was received + 14.84sINFOamclInitializing particle filter instance + 14.88sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/behavior_server' in container '/nav2_container' ×2 + 14.88sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libbt_navigator_core.so + 14.89sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.90sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.90sWARNlaser_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. + 14.91sWARNscan_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 + 14.91sINFOvideo_server2026/08/12 16:20:38 INF MediaMTX v1.19.3, linux, amd64 ×2 + 14.91sINFOvideo_server2026/08/12 16:20:38 INF configuration loaded from /tmp/moveit-webrtc-gbfwcotb/mediamtx.yml ×2 + 14.91sINFOvideo_server2026/08/12 16:20:38 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 14.91sINFOvideo_server2026/08/12 16:20:38 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 14.91sWARNlaser_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. + 14.93sINFObt_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. + 14.96sINFObt_navigatorCreating + 14.97sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 14.98sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 14.99sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 14.99sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 15.00sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.369035 seconds + 15.00sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 15.00sINFOmove_groupLoaded robot model in 0.369035 seconds[0m ×2 + 15.00sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 15.01sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 15.01sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.01sINFOwaypoint_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. + 15.01sINFOwaypoint_followerCreating + 15.03sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 15.03sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 15.04sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.04sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.07sINFOvelocity_smoother
velocity_smoother lifecycle node launched.
Waiting on external lifecycle transitions to activate
See https://design.ros2.org/articles/node_lifecycle.html for more information. + 15.08sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.08sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.09sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.09sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.12sINFOlifecycle_manager_navigationCreating + 15.14sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.15sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.17sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.17sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.17sINFOcontroller_serverConfiguring controller interface + 15.17sINFOcontroller_servergetting progress checker plugins.. + 15.17sINFOcontroller_servergetting goal checker plugins.. + 15.17sINFOcontroller_serverController frequency set to 20.0000Hz + 15.17sINFOlocal_costmap.local_costmapConfiguring + 15.22sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.26sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.811382 ms (missed cycles : 6). + 15.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.811382 ms (missed cycles : 6).[0m ×2 + 15.29sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.29sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.31sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.33sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.34sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.34sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.35sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.36sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.38sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.39sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.39sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.40sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.40sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.40sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.40sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.41sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.41sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.42sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.42sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.43sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.43sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.43sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.44sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.44sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.44sINFOcontroller_serverOptimizer reset ×2 + 15.47sINFOcontroller_serverController Server has FollowPath controllers available. + 15.47sINFOamclParticle filter initialization completed + 15.47sINFOamclInitializing particles from estimated pose and covariance + 15.47sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.49sINFOwaypoint_manager_nodeLoaded robot model in 0.368627 seconds[0m ×2 + 15.49sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.49sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.49sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.49sINFOsmoother_serverConfiguring smoother server + 15.50sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.50sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.51sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.51sINFOplanner_serverConfiguring + 15.51sINFOglobal_costmap.global_costmapConfiguring + 15.52sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.52sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.52sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.53sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.54sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.54sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.54sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.54sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.58sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.60sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.60sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.60sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.65sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.65sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.65sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.66sINFOplanner_serverPlanner Server has GridBased planners available. + 15.69sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.69sINFObehavior_serverConfiguring + 15.72sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.72sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.73sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.74sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.77sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.78sINFObehavior_serverConfiguring spin + 15.84sINFObehavior_serverConfiguring backup + 15.85sINFObehavior_serverConfiguring drive_on_heading + 15.87sINFObehavior_serverConfiguring assisted_teleop + 15.91sINFObehavior_serverConfiguring wait + 15.93sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 15.93sINFObt_navigatorConfiguring + 15.95sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 15.96sWARNbt_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 + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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. + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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 + 16.09sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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. + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.10sWARNwaypoint_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 + 16.11sWARNwaypoint_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. + 16.11sWARNwaypoint_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 + 16.11sWARNwaypoint_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. + 16.11sWARNwaypoint_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. + 16.11sWARNwaypoint_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. + 16.11sWARNwaypoint_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 + 16.11sWARNwaypoint_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 + 16.11sWARNwaypoint_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 + 16.11sWARNwaypoint_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. + 16.11sWARNwaypoint_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. + 16.11sWARNwaypoint_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. + 16.12sWARNwaypoint_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 + 16.12sWARNwaypoint_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 + 16.12sWARNwaypoint_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 + 16.30sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.36sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 16.36sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 16.36sWARNmove_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. + 16.36sWARNmove_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. + 16.36sWARNmove_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 + 16.36sWARNmove_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. + 16.36sWARNmove_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. + 16.36sWARNmove_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 + 16.36sWARNmove_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. + 16.36sWARNmove_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. + 16.36sWARNmove_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 + 16.37sWARNmove_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. + 16.37sWARNmove_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. + 16.37sWARNmove_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. + 16.37sWARNmove_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. + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.38sWARNmove_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 + 16.40sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.40sINFOwaypoint_followerConfiguring + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015108 ms (missed cycles : 4). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.015108 ms (missed cycles : 4).[0m ×2 + 16.44sINFOwaypoint_manager_node[2026-08-12 16:20:39.997] [moveit_pro_license] [info] ×2 + 16.44sINFOwaypoint_manager_node************************************************* ×4 + 16.44sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.44sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.44sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.45sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.45sINFOvelocity_smootherConfiguring velocity smoother + 16.46sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.46sINFOcontroller_serverActivating + 16.46sINFOlocal_costmap.local_costmapActivating + 16.46sINFOlocal_costmap.local_costmapChecking transform + 16.46sINFOlocal_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. ×6 + 16.70sINFOmove_group[2026-08-12 16:20:40.267] [moveit_pro_license] [info] ×2 + 16.70sINFOmove_group************************************************* ×4 + 16.70sINFOmove_group* MoveIt Pro License ×2 + 16.70sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.75sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.75sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.75sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.75sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.91sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 16.92sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.93sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 16.94sINFOspawner_arm_only_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.94sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.26sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 17.26sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 17.26sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 17.26sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 17.26sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 17.27sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 17.27sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 17.27sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 17.27sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.27sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 17.27sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 17.27sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 17.27sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 17.27sINFOmove_groupStarting planning scene monitor[0m ×2 + 17.28sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 17.28sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 17.28sINFOmove_groupListening to '/planning_scene'[0m ×2 + 17.28sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 17.28sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 17.28sINFOmove_groupListening to 'collision_object'[0m ×2 + 17.28sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 17.28sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 17.78sINFOobjective_server_node[2026-08-12 16:20:41.345] [moveit_pro_license] [info] ×2 + 17.78sINFOobjective_server_node************************************************* ×4 + 17.78sINFOobjective_server_node* MoveIt Pro License ×2 + 17.78sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.79sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.79sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.79sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.79sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.79sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.79sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.79sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.79sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.79sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.79sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.79sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.79sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.79sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.79sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.79sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.79sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.79sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.79sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.79sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.79sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.79sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.80sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.80sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.80sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964785 ms (missed cycles : 2). + 17.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.964785 ms (missed cycles : 2).[0m ×2 + 17.83sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.83sWARNros2_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 + 17.83sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.86sINFOobjective_server_nodeLoaded robot model in 0.0255981 seconds[0m ×2 + 17.86sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 17.86sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 17.94sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.94sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 17.94sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.94sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 17.98sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.98sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 17.98sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 17.98sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.01sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.01sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.13sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 18.13sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 18.20sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 18.20sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.20sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.21sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.21sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.21sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.21sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.21sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.21sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.22sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 18.22sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 18.23sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.23sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.23sWARNcomponent_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 + 18.24sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.24sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.24sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.24sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.24sINFOstreaming_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) + 18.24sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.24sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.24sINFOcomponent_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 + 18.25sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.25sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.25sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.25sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.25sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.25sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.26sWARNobjective_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. + 18.26sWARNobjective_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. + 18.26sWARNobjective_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 + 18.26sWARNobjective_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. + 18.26sWARNobjective_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. + 18.26sWARNobjective_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 + 18.26sWARNobjective_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 + 18.26sWARNobjective_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. + 18.26sWARNobjective_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. + 18.26sWARNobjective_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 + 18.26sWARNobjective_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 + 18.26sWARNobjective_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 + 18.26sWARNobjective_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. + 18.26sWARNobjective_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. + 18.26sWARNobjective_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 + 18.26sWARNobjective_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 + 18.26sWARNobjective_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. + 18.26sWARNobjective_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. + 18.26sWARNobjective_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 + 18.27sWARNobjective_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 + 18.35sINFOobjective_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 + 18.35sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.37sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.37sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.37sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.37sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.37sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.37sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.37sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.44sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.44sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.44sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.44sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.46sINFOstreaming_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) + 18.46sINFOcomponent_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 + 18.47sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.58sINFOros2_control_node[2026-08-12 16:20:42.146] [info] Controller state will be published at 20 Hz. ×2 + 18.58sINFOros2_control_node[2026-08-12 16:20:42.147] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.69sINFOcomponent_container_mtLoaded robot model in 0.459558 seconds[0m ×2 + 18.69sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 18.69sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.75sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 18.75sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 18.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140185 ms (missed cycles : 2). + 18.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.140185 ms (missed cycles : 2).[0m ×2 + 18.92sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 18.92sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 18.92sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 18.92sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 18.92sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 18.92sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 18.97sINFOros2-20process has finished cleanly [pid 9557] ×2 + 18.99sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 19.00sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 19.00sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 19.00sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 19.00sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 19.00sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 19.00sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 19.01sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 19.01sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 19.01sINFOcontroller_managerSuccessfully switched controllers! ×7 + 19.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 19.02sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 19.02sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 19.04sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786551641.484 for reason 'discarding message because the queue is full' + 19.08sWARNplanning_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. + 19.08sWARNplanning_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. + 19.08sWARNcomponent_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 + 19.08sWARNplanning_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. + 19.08sWARNplanning_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. + 19.08sWARNplanning_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. + 19.08sWARNplanning_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. + 19.08sWARNcomponent_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 + 19.08sWARNcomponent_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 + 19.08sWARNplanning_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. + 19.08sWARNcomponent_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 + 19.08sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNplanning_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. + 19.09sWARNplanning_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. + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.09sWARNcomponent_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 + 19.13sINFOmove_groupMoveGroup debug mode is ON + 19.13sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 19.13sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 19.14sINFOamclParticle filter update iteration stats: 2167 particles 723 points - 4.152ms + 19.18sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 19.18sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 19.18sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 19.18sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 19.18sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.18sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.18sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.23sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.29sINFOmove_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
********************************************************
+ 19.29sINFOmove_group ×8 + 19.29sINFOmove_group******************************************************** ×4 + 19.29sINFOmove_group* MoveGroup using: ×2 + 19.29sINFOmove_group* - apply_planning_scene_service ×2 + 19.29sINFOmove_group* - clear_octomap_service ×2 + 19.29sINFOmove_group* - get_group_urdf ×2 + 19.29sINFOmove_group* - load_geometry_from_file ×2 + 19.29sINFOmove_group* - get_planning_scene_service ×2 + 19.29sINFOmove_group* - kinematics_service ×2 + 19.29sINFOmove_group* - save_geometry_to_file ×2 + 19.29sINFOmove_group* - GetPlanningGroups ×2 + 19.29sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.29sINFOmove_group[0m ×2 + 19.29sINFOmove_group[92mYou can start planning now![0m ×2 + 19.31sINFOcomponent_container_mt[2026-08-12 16:20:42.875] [moveit_pro_license] [info] ×2 + 19.31sINFOcomponent_container_mt************************************************* ×4 + 19.31sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.31sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.34sINFOros2-12process has finished cleanly [pid 9549] ×2 + 19.34sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 19.34sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 19.34sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 19.34sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 19.35sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 19.35sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 19.42sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 19.42sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.42sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 19.42sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 19.42sINFOforce_torque_sensor_broadcasterconfigure successful + 19.43sINFOros2_control_nodeconfigure successful[0m ×6 + 19.43sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 19.43sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 19.43sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 19.43sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 19.46sINFOlocal_costmap.local_costmapstart + 19.56sWARNcontroller_serverParameter controller_server.verbose not found + 19.57sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 19.57sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 19.67sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 19.67sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 19.67sINFOsmoother_serverActivating + 19.67sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 19.69sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 19.69sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 19.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 19.70sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 19.73sWARNros2_control_nodeCamera render tick took 0.68 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 + 19.75sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 19.76sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 19.76sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 19.76sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 19.76sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 19.76sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 19.77sINFOros2-10process has finished cleanly [pid 9529] ×2 + 19.78sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 19.78sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 19.78sINFOplanner_serverActivating + 19.78sINFOglobal_costmap.global_costmapActivating + 19.78sINFOglobal_costmap.global_costmapChecking transform + 19.78sINFOglobal_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 1786551643.342921 but the earliest data is at time 1786551643.583758, when looking up transform from frame [ridgeback_base_link] to frame [map] + 19.81sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 19.81sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 19.81sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 19.82sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 19.86sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.86sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 19.87sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 19.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125642 ms (missed cycles : 3). + 19.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.125642 ms (missed cycles : 3).[0m ×2 + 20.03sWARNobjective_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 + 20.21sINFOros2_control_node[2026-08-12 16:20:43.773] [info] Controller state will be published at 20 Hz. ×2 + 20.21sINFOros2_control_node[2026-08-12 16:20:43.774] [info] JointVelocityController 'on_configure' succeeded. ×2 + 20.28sINFOglobal_costmap.global_costmapstart + 20.55sINFOros2-19process has finished cleanly [pid 9556] ×2 + 20.56sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.56sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 20.56sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.56sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 20.57sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 20.57sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 20.64sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 20.64sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 20.65sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 20.65sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 20.65sINFOplatform_velocity_controllerconfigure successful + 20.65sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 20.65sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 20.66sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 20.66sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 20.66sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 20.99sINFOros2-13process has finished cleanly [pid 9550] ×2 + 20.99sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 20.99sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 20.99sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 21.00sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 21.00sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 21.00sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 21.07sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 21.07sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 21.07sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 21.07sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 21.08sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 21.08sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 21.08sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 21.08sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 21.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138678 ms (missed cycles : 2). + 21.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.138678 ms (missed cycles : 2).[0m ×2 + 21.33sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 21.33sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 21.41sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 21.41sINFOcontroller_managerLoading controller 'vacuum_gripper' + 21.41sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 21.41sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 21.42sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 21.42sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 21.43sINFOros2-11process has finished cleanly [pid 9532] ×2 + 21.44sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 21.44sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 21.44sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 21.44sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 21.44sINFObehavior_serverActivating + 21.44sINFObehavior_serverActivating spin + 21.44sINFObehavior_serverActivating backup + 21.44sINFObehavior_serverActivating drive_on_heading + 21.44sINFObehavior_serverActivating assisted_teleop + 21.44sINFObehavior_serverActivating wait + 21.44sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 21.48sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 21.48sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 21.48sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 21.48sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 21.48sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 21.48sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 21.48sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 21.48sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 21.49sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 21.49sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 21.55sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 21.55sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 21.55sINFObt_navigatorActivating + 21.60sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 21.71sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 21.71sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 21.71sINFOwaypoint_followerActivating + 21.71sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 21.81sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 21.81sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 21.82sINFOvelocity_smootherActivating + 21.82sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 21.83sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 21.83sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 21.84sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 21.84sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 21.84sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 21.84sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 21.84sINFOros2-14process has finished cleanly [pid 9551] ×2 + 21.92sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 21.92sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 21.92sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 21.95sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 21.95sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 21.95sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 21.95sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 21.95sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 21.95sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 21.95sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 21.95sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 21.95sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 21.95sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 21.95sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 21.95sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 21.95sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 21.96sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 21.96sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953047 ms (missed cycles : 2). + 22.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953047 ms (missed cycles : 2).[0m ×2 + 22.34sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 22.34sINFOcontroller_managerLoading controller 'velocity_force_controller' + 22.34sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 22.34sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 22.35sINFOros2-16process has finished cleanly [pid 9553] ×2 + 22.41sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 22.41sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 22.47sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 22.47sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 22.48sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 22.48sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 22.88sINFOros2_control_node[2026-08-12 16:20:46.442] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 22.88sINFOros2_control_node[2026-08-12 16:20:46.445] [info] Controller state will be published at 10 Hz. ×2 + 22.88sINFOros2_control_node[2026-08-12 16:20:46.446] [info] VelocityForceController 'on_configure' succeeded. ×2 + 23.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271860 ms (missed cycles : 2). + 23.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271860 ms (missed cycles : 2).[0m ×2 + 23.24sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 23.24sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 23.24sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 23.24sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 23.24sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 23.24sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 23.27sINFOros2-17process has finished cleanly [pid 9554] ×2 + 23.32sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 23.32sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 23.32sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 23.33sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 23.33sINFOplatform_velocity_controller_nav2configure successful + 23.64sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 23.64sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 23.64sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z + 23.64sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 23.65sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 23.65sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__58jq46v --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_s75smxqr --params-file /tmp/launch_params_4fhu4g6z [0m ×2 + 23.68sINFOros2-15process has finished cleanly [pid 9552] ×2 + 23.71sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 23.71sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 23.72sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 23.72sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 24.12sINFOros2_control_node[2026-08-12 16:20:47.686] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.12sINFOros2_control_node[2026-08-12 16:20:47.688] [info] Controller state will be published at 10 Hz. ×2 + 24.13sINFOros2_control_node[2026-08-12 16:20:47.689] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.20sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170494 ms (missed cycles : 3). + 24.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.170494 ms (missed cycles : 3).[0m ×2 + 24.49sINFOros2-18process has finished cleanly [pid 9555] ×2 + 25.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 25.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 26.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 26.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 27.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 27.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 27.84sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 28.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 29.38sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.40sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.40sINFOmove_groupClearing octomap...[0m ×2 + 29.40sINFOmove_groupOctomap cleared.[0m ×2 + 29.40sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 29.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 29.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 29.97sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.98sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 30.54sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 30.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 30.69sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 31.28sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.29sINFOobjective_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 + 31.30sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.30sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.30sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.30sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.30sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.30sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 31.32sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.32sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.32sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 31.32sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.33sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 31.33sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 31.34sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 | ||||
▾
/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/share/hangar_sim/objectives13 pass24 skip
| ✓ passed | Plan Path Along Surface 3 Passes | plan_path_along_surface_3_passes.xml | 73.9s | 3 errors · 241 warnings · 210 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.776ms + 0.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745631 ms (missed cycles : 3). + 0.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745631 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.494ms + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms ×2 + 1.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295128 ms (missed cycles : 2). + 1.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295128 ms (missed cycles : 2).[0m ×2 + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 2.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040799 ms (missed cycles : 4). + 2.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040799 ms (missed cycles : 4).[0m ×2 + 2.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 3.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420475 ms (missed cycles : 3). + 3.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420475 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 4.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 4.03sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOjoint_trajectory_controllerGot request to cancel goal + 4.03sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.03sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.03sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.05sERRORobjective_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: 1786551863.45149779 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-0.73, 3.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-1.63, 3.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.962ms + 4.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690924 ms (missed cycles : 3). + 4.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690924 ms (missed cycles : 3).[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 4.61sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786551864.02068615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.64sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.64sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.286ms + 5.04sINFOobjective_server_nodeFound path in 0 iterations (5.65e-07 s). ×2 + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.386ms + 5.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739607 ms (missed cycles : 2). + 5.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739607 ms (missed cycles : 2).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.015ms + 6.61sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 7.674ms + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633015 ms (missed cycles : 3). + 6.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633015 ms (missed cycles : 3).[0m ×2 + 6.87sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.90sINFOamclParticle filter update iteration stats: 2805 particles 723 points - 4.246ms + 6.94sINFOjoint_trajectory_controllerReceived new action goal ×5 + 6.94sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 6.94sINFOros2_control_nodeReceived new action goal[0m ×10 + 6.94sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.50sINFOamclParticle filter update iteration stats: 2303 particles 723 points - 3.056ms + 7.80sINFOamclParticle filter update iteration stats: 1650 particles 723 points - 2.317ms + 7.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329763 ms (missed cycles : 2). + 7.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.329763 ms (missed cycles : 2).[0m ×2 + 8.10sINFOamclParticle filter update iteration stats: 1236 particles 723 points - 2.064ms + 8.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.388ms + 8.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.503ms + 8.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983687 ms (missed cycles : 3). + 8.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983687 ms (missed cycles : 3).[0m ×2 + 10.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 10.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624343 ms (missed cycles : 2). + 10.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624343 ms (missed cycles : 2).[0m ×2 + 10.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.598ms + 11.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.191ms + 11.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029370 ms (missed cycles : 3). + 11.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029370 ms (missed cycles : 3).[0m ×2 + 11.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 12.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 12.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387182 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.387182 ms (missed cycles : 3).[0m ×2 + 12.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 13.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626567 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.626567 ms (missed cycles : 3).[0m ×2 + 13.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms ×2 + 14.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320193 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.320193 ms (missed cycles : 3).[0m ×2 + 14.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.012ms + 15.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679345 ms (missed cycles : 3). + 15.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.679345 ms (missed cycles : 3).[0m ×2 + 15.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 16.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms ×2 + 16.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942339 ms (missed cycles : 3). + 16.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942339 ms (missed cycles : 3).[0m ×2 + 16.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.248ms + 17.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms ×2 + 17.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917195 ms (missed cycles : 2). + 17.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917195 ms (missed cycles : 2).[0m ×2 + 18.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 18.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571264 ms (missed cycles : 2). + 18.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.571264 ms (missed cycles : 2).[0m ×2 + 18.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.290ms + 19.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 19.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 19.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101165 ms (missed cycles : 3). + 19.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.101165 ms (missed cycles : 3).[0m ×2 + 20.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 20.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 20.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690001 ms (missed cycles : 3). + 20.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690001 ms (missed cycles : 3).[0m ×2 + 21.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms ×2 + 21.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 21.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609497 ms (missed cycles : 4). + 21.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.609497 ms (missed cycles : 4).[0m ×2 + 22.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 22.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137873 ms (missed cycles : 4). + 22.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.137873 ms (missed cycles : 4).[0m ×2 + 23.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.230ms + 23.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.933ms + 23.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125433 ms (missed cycles : 2). + 23.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.125433 ms (missed cycles : 2).[0m ×2 + 24.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 24.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989695 ms (missed cycles : 2). + 24.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.989695 ms (missed cycles : 2).[0m ×2 + 25.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms ×2 + 25.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 25.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697263 ms (missed cycles : 2). + 25.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.697263 ms (missed cycles : 2).[0m ×2 + 26.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.474ms + 26.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 27.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866988 ms (missed cycles : 2). + 27.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.866988 ms (missed cycles : 2).[0m ×2 + 27.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms ×2 + 27.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 28.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774418 ms (missed cycles : 2). + 28.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.744ms + 28.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.774418 ms (missed cycles : 2).[0m ×2 + 28.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.873ms + 29.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.844ms + 29.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098870 ms (missed cycles : 4). + 29.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.098870 ms (missed cycles : 4).[0m ×2 + 29.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.876ms ×2 + 30.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 30.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690086 ms (missed cycles : 3). + 30.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690086 ms (missed cycles : 3).[0m ×2 + 30.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 31.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.453ms + 31.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422537 ms (missed cycles : 3). + 31.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.422537 ms (missed cycles : 3).[0m ×2 + 31.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 32.02sINFOros2_control_nodeMuJoCo sim: 1.26% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 32.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 32.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730282 ms (missed cycles : 3). + 32.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.730282 ms (missed cycles : 3).[0m ×2 + 32.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 33.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832893 ms (missed cycles : 2). + 33.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.832893 ms (missed cycles : 2).[0m ×2 + 34.22sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.22sINFOros2_control_nodeGoal reached, success![0m ×8 + 34.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976090 ms (missed cycles : 3). + 34.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976090 ms (missed cycles : 3).[0m ×2 + 34.62sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 35.39sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 35.39sINFOobjective_server_nodePlanning for 42 path waypoints. ×3 + 35.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132606 ms (missed cycles : 4). + 35.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.132606 ms (missed cycles : 4).[0m ×2 + 36.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667871 ms (missed cycles : 4). + 36.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.667871 ms (missed cycles : 4).[0m ×2 + 37.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396554 ms (missed cycles : 4). + 37.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.396554 ms (missed cycles : 4).[0m ×2 + 38.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 38.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 38.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952972 ms (missed cycles : 3). + 38.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.952972 ms (missed cycles : 3).[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.888ms + 39.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 39.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.838ms + 39.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802250 ms (missed cycles : 2). + 39.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.802250 ms (missed cycles : 2).[0m ×2 + 40.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 40.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601058 ms (missed cycles : 3). + 40.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.601058 ms (missed cycles : 3).[0m ×2 + 42.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924162 ms (missed cycles : 2). + 42.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.924162 ms (missed cycles : 2).[0m ×2 + 43.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081376 ms (missed cycles : 4). + 43.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.081376 ms (missed cycles : 4).[0m ×2 + 44.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051536 ms (missed cycles : 2). + 44.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.051536 ms (missed cycles : 2).[0m ×2 + 44.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.324ms + 45.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303307 ms (missed cycles : 2). + 45.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.303307 ms (missed cycles : 2).[0m ×2 + 45.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.039ms ×2 + 46.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061216 ms (missed cycles : 2). + 46.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.061216 ms (missed cycles : 2).[0m ×2 + 46.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.408ms + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064118 ms (missed cycles : 4). + 47.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.064118 ms (missed cycles : 4).[0m ×2 + 48.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493687 ms (missed cycles : 3). + 48.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.493687 ms (missed cycles : 3).[0m ×2 + 48.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.412ms + 49.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164686 ms (missed cycles : 2). + 49.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164686 ms (missed cycles : 2).[0m ×2 + 50.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.971ms + 50.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811262 ms (missed cycles : 2). + 50.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811262 ms (missed cycles : 2).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 51.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177625 ms (missed cycles : 2). + 51.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.177625 ms (missed cycles : 2).[0m ×2 + 51.68sINFOobjective_server_nodePlanning for 37 path waypoints. ×3 + 52.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598324 ms (missed cycles : 4). + 52.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.598324 ms (missed cycles : 4).[0m ×2 + 53.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710619 ms (missed cycles : 3). + 53.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.710619 ms (missed cycles : 3).[0m ×2 + 54.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532513 ms (missed cycles : 4). + 54.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.532513 ms (missed cycles : 4).[0m ×2 + 55.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210749 ms (missed cycles : 2). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210749 ms (missed cycles : 2).[0m ×2 + 56.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.383ms + 56.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835762 ms (missed cycles : 3). + 57.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835762 ms (missed cycles : 3).[0m ×2 + 58.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010821 ms (missed cycles : 3). + 58.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.010821 ms (missed cycles : 3).[0m ×2 + 58.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 59.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560879 ms (missed cycles : 3). + 59.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.560879 ms (missed cycles : 3).[0m ×2 + 59.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 59.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 60.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975695 ms (missed cycles : 4). + 60.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.975695 ms (missed cycles : 4).[0m ×2 + 60.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472186 ms (missed cycles : 3). + 61.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.472186 ms (missed cycles : 3).[0m ×2 + 62.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901934 ms (missed cycles : 2). + 62.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.901934 ms (missed cycles : 2).[0m ×2 + 63.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.859ms + 63.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315114 ms (missed cycles : 5). + 63.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.315114 ms (missed cycles : 5).[0m ×2 + 64.22sINFOobjective_server_nodePlanning for 38 path waypoints. ×3 + 64.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545196 ms (missed cycles : 4). + 64.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.545196 ms (missed cycles : 4).[0m ×2 + 65.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501381 ms (missed cycles : 4). + 65.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.501381 ms (missed cycles : 4).[0m ×2 + 66.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789145 ms (missed cycles : 3). + 66.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.789145 ms (missed cycles : 3).[0m ×2 + 67.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698846 ms (missed cycles : 3). + 67.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.698846 ms (missed cycles : 3).[0m ×2 + 68.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 68.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722164 ms (missed cycles : 4). + 68.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.722164 ms (missed cycles : 4).[0m ×2 + 69.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392240 ms (missed cycles : 3). + 69.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.392240 ms (missed cycles : 3).[0m ×2 + 70.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948100 ms (missed cycles : 2). + 70.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.948100 ms (missed cycles : 2).[0m ×2 + 71.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.283ms + 71.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.779ms + 71.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950338 ms (missed cycles : 2). + 71.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.950338 ms (missed cycles : 2).[0m ×2 + 72.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536086 ms (missed cycles : 4). + 72.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.536086 ms (missed cycles : 4).[0m ×2 + 74.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379396 ms (missed cycles : 4). + 74.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379396 ms (missed cycles : 4).[0m ×2 + 74.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 74.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 75.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793207 ms (missed cycles : 2). + 75.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793207 ms (missed cycles : 2).[0m ×2 + 75.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 76.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668100 ms (missed cycles : 2). + 76.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668100 ms (missed cycles : 2).[0m ×2 + 76.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 77.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059854 ms (missed cycles : 5). + 77.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059854 ms (missed cycles : 5).[0m ×2 + 77.95sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786551937.36087537 seconds ×3 + 78.02sWARNlocal_costmap.local_costmapSensor origin at (-2.31, 13.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.02sWARNlocal_costmap.local_costmapSensor origin at (-3.10, 13.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 78.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.405ms + 78.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274103 ms (missed cycles : 2). + 78.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274103 ms (missed cycles : 2).[0m ×2 + 78.52sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 78.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 79.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 79.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 80.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 80.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 80.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms | ||||
| ✓ passed | Generate Grid Pattern on Airplane | generate_grid_pattern_on_airplane.xml | 57.5s | 190 warnings · 164 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.18sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551698.47413373 seconds ×3 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551699.03474092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.3012e-05 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.95sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.95sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.95sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.95sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326154 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326154 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786551702.30487442 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505091 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505091 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786551702.87495303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (6.34e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429712 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429712 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567689 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567689 ms (missed cycles : 3).[0m ×2 + 7.14sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940118 ms (missed cycles : 2). + 7.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.940118 ms (missed cycles : 2).[0m ×2 + 8.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675422 ms (missed cycles : 2). + 8.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.675422 ms (missed cycles : 2).[0m ×2 + 9.15sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 2.093ms + 9.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078870 ms (missed cycles : 2). + 9.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.078870 ms (missed cycles : 2).[0m ×2 + 9.75sINFOamclParticle filter update iteration stats: 1183 particles 723 points - 1.625ms + 10.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.934ms + 10.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.195ms + 10.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755026 ms (missed cycles : 3). + 10.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.755026 ms (missed cycles : 3).[0m ×2 + 11.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.146ms + 11.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.494ms + 11.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373994 ms (missed cycles : 4). + 11.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.373994 ms (missed cycles : 4).[0m ×2 + 12.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms ×2 + 12.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.026ms ×2 + 12.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167557 ms (missed cycles : 2). + 12.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167557 ms (missed cycles : 2).[0m ×2 + 13.16sINFOros2_control_nodeMuJoCo sim: 0.17% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.081ms + 13.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 13.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967836 ms (missed cycles : 2). + 13.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967836 ms (missed cycles : 2).[0m ×2 + 14.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.982ms + 14.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.018ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825897 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.825897 ms (missed cycles : 2).[0m ×2 + 15.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 15.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 15.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899838 ms (missed cycles : 2). + 15.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.899838 ms (missed cycles : 2).[0m ×2 + 16.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms ×2 + 16.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.409ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929788 ms (missed cycles : 2). + 16.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.929788 ms (missed cycles : 2).[0m ×2 + 17.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.058ms + 17.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.067ms + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839190 ms (missed cycles : 5). + 18.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.839190 ms (missed cycles : 5).[0m ×2 + 18.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 19.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409574 ms (missed cycles : 3). + 19.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.409574 ms (missed cycles : 3).[0m ×2 + 19.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.967ms + 19.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 20.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835568 ms (missed cycles : 2). + 20.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.835568 ms (missed cycles : 2).[0m ×2 + 20.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 20.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 21.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800272 ms (missed cycles : 2). + 21.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.800272 ms (missed cycles : 2).[0m ×2 + 21.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms ×2 + 21.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.010ms + 22.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.998ms + 22.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147452 ms (missed cycles : 2). + 22.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.147452 ms (missed cycles : 2).[0m ×2 + 22.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 23.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.004ms + 23.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687394 ms (missed cycles : 4). + 23.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.687394 ms (missed cycles : 4).[0m ×2 + 23.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 24.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.633ms + 24.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979985 ms (missed cycles : 3). + 24.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.979985 ms (missed cycles : 3).[0m ×2 + 25.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 25.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531455 ms (missed cycles : 3). + 25.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.531455 ms (missed cycles : 3).[0m ×2 + 25.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 26.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.393ms + 26.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012746 ms (missed cycles : 3). + 26.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.012746 ms (missed cycles : 3).[0m ×2 + 26.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.973ms ×3 + 27.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.194ms + 27.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775262 ms (missed cycles : 2). + 27.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.775262 ms (missed cycles : 2).[0m ×2 + 27.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 28.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.305ms + 28.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200080 ms (missed cycles : 3). + 28.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.200080 ms (missed cycles : 3).[0m ×2 + 28.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.245ms + 29.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278809 ms (missed cycles : 4). + 29.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278809 ms (missed cycles : 4).[0m ×2 + 29.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.015ms + 30.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.865ms + 30.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870052 ms (missed cycles : 2). + 30.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.870052 ms (missed cycles : 2).[0m ×2 + 31.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.764ms + 31.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230547 ms (missed cycles : 4). + 31.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.499ms + 31.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.230547 ms (missed cycles : 4).[0m ×2 + 32.26sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.405ms + 32.76sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 32.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086889 ms (missed cycles : 4). + 32.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.086889 ms (missed cycles : 4).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308681 ms (missed cycles : 3). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.308681 ms (missed cycles : 3).[0m ×2 + 34.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161395 ms (missed cycles : 4). + 34.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.161395 ms (missed cycles : 4).[0m ×2 + 35.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799023 ms (missed cycles : 2). + 35.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799023 ms (missed cycles : 2).[0m ×2 + 35.91sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.91sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 37.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096672 ms (missed cycles : 4). + 37.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.096672 ms (missed cycles : 4).[0m ×2 + 38.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911091 ms (missed cycles : 4). + 38.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.911091 ms (missed cycles : 4).[0m ×2 + 39.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908599 ms (missed cycles : 2). + 39.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.908599 ms (missed cycles : 2).[0m ×2 + 40.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299791 ms (missed cycles : 5). + 40.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.299791 ms (missed cycles : 5).[0m ×2 + 41.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983593 ms (missed cycles : 3). + 41.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.983593 ms (missed cycles : 3).[0m ×2 + 42.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247429 ms (missed cycles : 2). + 42.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.247429 ms (missed cycles : 2).[0m ×2 + 43.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729646 ms (missed cycles : 3). + 43.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.729646 ms (missed cycles : 3).[0m ×2 + 44.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562255 ms (missed cycles : 4). + 44.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.562255 ms (missed cycles : 4).[0m ×2 + 45.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280768 ms (missed cycles : 4). + 45.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.280768 ms (missed cycles : 4).[0m ×2 + 46.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144064 ms (missed cycles : 2). + 46.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.144064 ms (missed cycles : 2).[0m ×2 + 47.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029475 ms (missed cycles : 3). + 47.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.029475 ms (missed cycles : 3).[0m ×2 + 48.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642294 ms (missed cycles : 3). + 48.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.642294 ms (missed cycles : 3).[0m ×2 + 49.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.932ms + 50.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442355 ms (missed cycles : 3). + 50.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.442355 ms (missed cycles : 3).[0m ×2 + 51.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750829 ms (missed cycles : 2). + 51.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.750829 ms (missed cycles : 2).[0m ×2 + 52.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738969 ms (missed cycles : 3). + 52.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.738969 ms (missed cycles : 3).[0m ×2 + 52.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.551ms + 53.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691064 ms (missed cycles : 3). + 53.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.691064 ms (missed cycles : 3).[0m ×2 + 54.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391235 ms (missed cycles : 4). + 54.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.391235 ms (missed cycles : 4).[0m ×2 + 55.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061645 ms (missed cycles : 4). + 55.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.061645 ms (missed cycles : 4).[0m ×2 + 56.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790795 ms (missed cycles : 3). + 56.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790795 ms (missed cycles : 3).[0m ×2 + 56.86sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.921ms + 57.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 57.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 58.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 58.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 59.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 59.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 60.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 60.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 60.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 61.54sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 61.58sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.58sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 61.66sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 61.68sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.68sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 61.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 61.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 62.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 62.12sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 62.52sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 62.56sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 62.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 62.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 63.46sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 63.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 63.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Solution - Generate coverage path | solution_generate_coverage_path.xml | 57.3s | 187 warnings · 155 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.45sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.45sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 + 7.52sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006626 ms (missed cycles : 2). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.006626 ms (missed cycles : 2).[0m ×2 + 9.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580199 ms (missed cycles : 3). + 9.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.580199 ms (missed cycles : 3).[0m ×2 + 9.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.408ms + 9.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.424ms + 10.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089195 ms (missed cycles : 2). + 10.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089195 ms (missed cycles : 2).[0m ×2 + 10.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.411ms + 10.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.164ms + 11.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902030 ms (missed cycles : 3). + 11.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902030 ms (missed cycles : 3).[0m ×2 + 11.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.473ms + 11.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.330ms + 12.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384797 ms (missed cycles : 3). + 12.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.384797 ms (missed cycles : 3).[0m ×2 + 12.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.047ms + 12.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.892ms + 13.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770090 ms (missed cycles : 3). + 13.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.770090 ms (missed cycles : 3).[0m ×2 + 13.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.701ms + 13.51sINFOros2_control_nodeMuJoCo sim: 2.10% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 13.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.060ms + 14.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.690ms + 14.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781740 ms (missed cycles : 3). + 14.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.781740 ms (missed cycles : 3).[0m ×2 + 14.99sINFOamclParticle filter update iteration stats: 4838 particles 723 points - 6.946ms + 15.49sINFOamclParticle filter update iteration stats: 4239 particles 723 points - 7.429ms + 15.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348517 ms (missed cycles : 3). + 15.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.348517 ms (missed cycles : 3).[0m ×2 + 15.97sINFOamclParticle filter update iteration stats: 3679 particles 723 points - 5.151ms + 16.48sINFOamclParticle filter update iteration stats: 3451 particles 723 points - 4.475ms + 16.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650641 ms (missed cycles : 3). + 16.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.650641 ms (missed cycles : 3).[0m ×2 + 16.99sINFOamclParticle filter update iteration stats: 3544 particles 723 points - 5.518ms + 17.48sINFOamclParticle filter update iteration stats: 3440 particles 723 points - 4.530ms + 17.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403121 ms (missed cycles : 3). + 17.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403121 ms (missed cycles : 3).[0m ×2 + 17.98sINFOamclParticle filter update iteration stats: 2941 particles 723 points - 4.172ms + 18.48sINFOamclParticle filter update iteration stats: 2565 particles 723 points - 3.741ms + 18.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577968 ms (missed cycles : 3). + 18.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.577968 ms (missed cycles : 3).[0m ×2 + 18.98sINFOamclParticle filter update iteration stats: 1946 particles 723 points - 3.149ms + 19.48sINFOamclParticle filter update iteration stats: 1555 particles 723 points - 2.745ms + 19.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149480 ms (missed cycles : 3). + 19.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.149480 ms (missed cycles : 3).[0m ×2 + 19.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.013ms + 20.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 20.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050428 ms (missed cycles : 3). + 20.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.050428 ms (missed cycles : 3).[0m ×2 + 20.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.427ms + 21.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.348ms + 21.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640860 ms (missed cycles : 3). + 21.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.640860 ms (missed cycles : 3).[0m ×2 + 21.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 22.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.362ms + 22.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131727 ms (missed cycles : 3). + 22.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.131727 ms (missed cycles : 3).[0m ×2 + 22.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.259ms ×2 + 23.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.325ms + 23.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744954 ms (missed cycles : 4). + 23.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.744954 ms (missed cycles : 4).[0m ×2 + 23.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.193ms + 24.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938175 ms (missed cycles : 3). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.938175 ms (missed cycles : 3).[0m ×2 + 24.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.171ms + 25.47sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 25.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.110ms + 26.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944051 ms (missed cycles : 3). + 26.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.944051 ms (missed cycles : 3).[0m ×2 + 26.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.913ms + 26.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.244ms + 27.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889617 ms (missed cycles : 4). + 27.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.889617 ms (missed cycles : 4).[0m ×2 + 27.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.371ms + 27.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.381ms + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965615 ms (missed cycles : 3). + 28.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965615 ms (missed cycles : 3).[0m ×2 + 28.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.243ms + 28.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.608ms + 29.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439482 ms (missed cycles : 4). + 29.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.439482 ms (missed cycles : 4).[0m ×2 + 29.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.502ms + 29.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.239ms + 30.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.155ms + 30.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353466 ms (missed cycles : 4). + 30.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.353466 ms (missed cycles : 4).[0m ×2 + 30.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 31.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.470ms + 31.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291985 ms (missed cycles : 2). + 31.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.291985 ms (missed cycles : 2).[0m ×2 + 31.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.501ms + 32.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.178ms + 32.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535197 ms (missed cycles : 4). + 32.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.535197 ms (missed cycles : 4).[0m ×2 + 32.98sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 33.48sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.417ms + 33.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383638 ms (missed cycles : 5). + 33.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.383638 ms (missed cycles : 5).[0m ×2 + 34.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.352ms + 34.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592974 ms (missed cycles : 4). + 34.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.592974 ms (missed cycles : 4).[0m ×2 + 34.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.220ms + 35.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154463 ms (missed cycles : 4). + 35.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.154463 ms (missed cycles : 4).[0m ×2 + 35.99sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.99sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282271 ms (missed cycles : 4). + 36.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.282271 ms (missed cycles : 4).[0m ×2 + 38.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843565 ms (missed cycles : 4). + 38.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.843565 ms (missed cycles : 4).[0m ×2 + 39.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034800 ms (missed cycles : 2). + 39.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.034800 ms (missed cycles : 2).[0m ×2 + 40.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947195 ms (missed cycles : 3). + 40.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.947195 ms (missed cycles : 3).[0m ×2 + 41.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009859 ms (missed cycles : 4). + 41.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009859 ms (missed cycles : 4).[0m ×2 + 41.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.031ms + 42.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620865 ms (missed cycles : 3). + 42.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.620865 ms (missed cycles : 3).[0m ×2 + 43.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673705 ms (missed cycles : 2). + 43.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.673705 ms (missed cycles : 2).[0m ×2 + 44.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090408 ms (missed cycles : 2). + 44.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.090408 ms (missed cycles : 2).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268215 ms (missed cycles : 2). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.268215 ms (missed cycles : 2).[0m ×2 + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141204 ms (missed cycles : 4). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.141204 ms (missed cycles : 4).[0m ×2 + 47.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319252 ms (missed cycles : 4). + 47.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.319252 ms (missed cycles : 4).[0m ×2 + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502674 ms (missed cycles : 3). + 48.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.502674 ms (missed cycles : 3).[0m ×2 + 49.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043072 ms (missed cycles : 4). + 49.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.043072 ms (missed cycles : 4).[0m ×2 + 49.58sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 50.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950067 ms (missed cycles : 3). + 50.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950067 ms (missed cycles : 3).[0m ×2 + 51.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765757 ms (missed cycles : 3). + 51.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765757 ms (missed cycles : 3).[0m ×2 + 52.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049301 ms (missed cycles : 2). + 52.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.049301 ms (missed cycles : 2).[0m ×2 + 52.88sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.127ms + 53.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296553 ms (missed cycles : 2). + 53.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.296553 ms (missed cycles : 2).[0m ×2 + 54.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832173 ms (missed cycles : 2). + 54.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.832173 ms (missed cycles : 2).[0m ×2 + 55.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176374 ms (missed cycles : 3). + 55.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.176374 ms (missed cycles : 3).[0m ×2 + 56.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594673 ms (missed cycles : 3). + 56.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594673 ms (missed cycles : 3).[0m ×2 + 57.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.131ms + 58.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949837 ms (missed cycles : 5). + 58.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949837 ms (missed cycles : 5).[0m ×2 + 59.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844699 ms (missed cycles : 3). + 59.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844699 ms (missed cycles : 3).[0m ×2 + 60.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939747 ms (missed cycles : 3). + 60.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939747 ms (missed cycles : 3).[0m ×2 + 60.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 61.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853634 ms (missed cycles : 2). + 61.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853634 ms (missed cycles : 2).[0m ×2 + 61.64sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786551999.56968880 seconds ×3 + 61.70sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.91) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.70sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 61.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.808ms + 61.80sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 8.52) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.80sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 8.54) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.048ms + 62.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.530ms + 62.22sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786552000.14737177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844343 ms (missed cycles : 3). + 62.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844343 ms (missed cycles : 3).[0m ×2 + 62.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.499ms + 62.63sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 62.67sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.323ms + 63.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114467 ms (missed cycles : 2). + 63.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114467 ms (missed cycles : 2).[0m ×2 + 63.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.653ms + 64.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.801ms | ||||
| ✓ passed | Plan Path Along Surface | plan_path_along_surface.xml | 55.3s | 181 warnings · 168 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms ×2 + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2).[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.16sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551797.12101150 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.228ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.564ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551797.68347764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.305ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.949ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.710ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.541ms + 6.93sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 6.98sINFOjoint_trajectory_controllerReceived new action goal ×2 + 6.98sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 6.98sINFOros2_control_nodeReceived new action goal[0m ×4 + 6.98sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.588ms + 7.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.107ms + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692786 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.692786 ms (missed cycles : 3).[0m ×2 + 7.70sINFOamclParticle filter update iteration stats: 3752 particles 723 points - 5.142ms + 8.00sINFOamclParticle filter update iteration stats: 2523 particles 723 points - 3.506ms + 8.30sINFOamclParticle filter update iteration stats: 1703 particles 723 points - 3.367ms + 8.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278908 ms (missed cycles : 4). + 8.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.278908 ms (missed cycles : 4).[0m ×2 + 8.70sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.740ms + 9.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047689 ms (missed cycles : 3). + 9.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.047689 ms (missed cycles : 3).[0m ×2 + 9.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.856ms + 10.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.060ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815759 ms (missed cycles : 4). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.815759 ms (missed cycles : 4).[0m ×2 + 11.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.071ms ×2 + 11.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 11.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404735 ms (missed cycles : 4). + 11.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.404735 ms (missed cycles : 4).[0m ×2 + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263613 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.263613 ms (missed cycles : 2).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.209ms + 13.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177662 ms (missed cycles : 3). + 13.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.177662 ms (missed cycles : 3).[0m ×2 + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.005ms + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 14.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792053 ms (missed cycles : 4). + 14.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.792053 ms (missed cycles : 4).[0m ×2 + 15.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.637ms + 15.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 15.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478105 ms (missed cycles : 3). + 15.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.478105 ms (missed cycles : 3).[0m ×2 + 16.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 16.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.044ms + 16.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827961 ms (missed cycles : 3). + 16.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.827961 ms (missed cycles : 3).[0m ×2 + 17.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.064ms + 17.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.030ms + 18.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms ×2 + 18.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313396 ms (missed cycles : 4). + 18.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.313396 ms (missed cycles : 4).[0m ×2 + 18.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 19.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 19.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688201 ms (missed cycles : 3). + 19.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.688201 ms (missed cycles : 3).[0m ×2 + 19.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms ×2 + 20.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.271ms + 20.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716981 ms (missed cycles : 3). + 20.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.716981 ms (missed cycles : 3).[0m ×2 + 20.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 20.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.210ms + 21.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735432 ms (missed cycles : 2). + 21.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.735432 ms (missed cycles : 2).[0m ×2 + 21.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 22.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249778 ms (missed cycles : 4). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249778 ms (missed cycles : 4).[0m ×2 + 22.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 23.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms + 23.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505517 ms (missed cycles : 4). + 23.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.505517 ms (missed cycles : 4).[0m ×2 + 23.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms + 24.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.201ms + 24.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094635 ms (missed cycles : 3). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.094635 ms (missed cycles : 3).[0m ×2 + 24.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.386ms + 25.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 25.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243762 ms (missed cycles : 2). + 25.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.243762 ms (missed cycles : 2).[0m ×2 + 25.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 26.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.488ms + 26.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432510 ms (missed cycles : 3). + 26.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432510 ms (missed cycles : 3).[0m ×2 + 27.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.955ms + 27.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 27.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575627 ms (missed cycles : 4). + 27.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.575627 ms (missed cycles : 4).[0m ×2 + 28.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.152ms + 28.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.366ms + 28.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920408 ms (missed cycles : 2). + 28.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.920408 ms (missed cycles : 2).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.806ms + 29.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 29.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294807 ms (missed cycles : 2). + 29.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.294807 ms (missed cycles : 2).[0m ×2 + 30.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.966ms + 30.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 30.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517642 ms (missed cycles : 4). + 30.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.517642 ms (missed cycles : 4).[0m ×2 + 31.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 31.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411971 ms (missed cycles : 5). + 31.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.411971 ms (missed cycles : 5).[0m ×2 + 32.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.387ms + 32.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.976ms + 32.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922299 ms (missed cycles : 4). + 32.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.922299 ms (missed cycles : 4).[0m ×2 + 33.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756422 ms (missed cycles : 3). + 33.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.756422 ms (missed cycles : 3).[0m ×2 + 34.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087227 ms (missed cycles : 4). + 34.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.087227 ms (missed cycles : 4).[0m ×2 + 36.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689070 ms (missed cycles : 3). + 36.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689070 ms (missed cycles : 3).[0m ×2 + 36.15sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.86sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 36.86sINFOobjective_server_nodePlanning for 51 path waypoints. ×3 + 37.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814980 ms (missed cycles : 2). + 37.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.814980 ms (missed cycles : 2).[0m ×2 + 38.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844822 ms (missed cycles : 3). + 38.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844822 ms (missed cycles : 3).[0m ×2 + 38.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 38.51sINFOros2_control_nodeMuJoCo sim: 0.83% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 39.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 39.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730694 ms (missed cycles : 2). + 39.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.730694 ms (missed cycles : 2).[0m ×2 + 39.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 40.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.566ms + 40.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790053 ms (missed cycles : 3). + 40.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.790053 ms (missed cycles : 3).[0m ×2 + 40.41sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms ×2 + 40.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.900ms + 41.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 41.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499190 ms (missed cycles : 3). + 41.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499190 ms (missed cycles : 3).[0m ×2 + 41.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.188ms + 42.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.469ms + 42.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817273 ms (missed cycles : 3). + 42.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.817273 ms (missed cycles : 3).[0m ×2 + 43.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605102 ms (missed cycles : 4). + 43.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.605102 ms (missed cycles : 4).[0m ×2 + 44.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024882 ms (missed cycles : 3). + 44.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.024882 ms (missed cycles : 3).[0m ×2 + 45.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.169ms + 45.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660020 ms (missed cycles : 4). + 45.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660020 ms (missed cycles : 4).[0m ×2 + 46.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 46.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776163 ms (missed cycles : 2). + 46.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.776163 ms (missed cycles : 2).[0m ×2 + 47.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.061ms + 47.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921456 ms (missed cycles : 3). + 47.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.921456 ms (missed cycles : 3).[0m ×2 + 47.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.899ms + 48.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 48.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509631 ms (missed cycles : 4). + 48.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.509631 ms (missed cycles : 4).[0m ×2 + 49.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.066ms + 49.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201177 ms (missed cycles : 4). + 49.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.201177 ms (missed cycles : 4).[0m ×2 + 50.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.857ms + 50.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664958 ms (missed cycles : 3). + 50.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.664958 ms (missed cycles : 3).[0m ×2 + 51.30sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 51.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605949 ms (missed cycles : 3). + 51.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.605949 ms (missed cycles : 3).[0m ×2 + 52.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.893ms + 52.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277977 ms (missed cycles : 5). + 52.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.277977 ms (missed cycles : 5).[0m ×2 + 53.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 53.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271416 ms (missed cycles : 2). + 53.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.271416 ms (missed cycles : 2).[0m ×2 + 54.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.037ms + 54.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976404 ms (missed cycles : 3). + 54.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.976404 ms (missed cycles : 3).[0m ×2 + 55.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703610 ms (missed cycles : 3). + 55.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703610 ms (missed cycles : 3).[0m ×2 + 56.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 57.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405982 ms (missed cycles : 3). + 57.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405982 ms (missed cycles : 3).[0m ×2 + 58.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833483 ms (missed cycles : 5). + 58.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833483 ms (missed cycles : 5).[0m ×2 + 58.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 59.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435107 ms (missed cycles : 4). + 59.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435107 ms (missed cycles : 4).[0m ×2 + 59.52sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786551852.42363739 seconds ×3 + 59.62sWARNlocal_costmap.local_costmapSensor origin at (-1.86, 10.57) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.62sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.09) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 59.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.910ms + 60.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.342ms + 60.08sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786551852.98606277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206335 ms (missed cycles : 3). + 60.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206335 ms (missed cycles : 3).[0m ×2 + 60.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.012ms + 60.52sINFOobjective_server_nodeFound path in 0 iterations (7.18e-07 s). ×2 + 60.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.904ms + 60.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.206ms + 61.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.945ms + 61.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511521 ms (missed cycles : 3). + 61.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511521 ms (missed cycles : 3).[0m ×2 + 61.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.834ms + 61.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.803ms + 62.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms | ||||
| ✓ passed | Cartesian Draw Geometry From File | cartesian_draw_geometry_from_file.xml | 43.6s | 147 warnings · 142 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.77sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.77sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237266 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237266 ms (missed cycles : 3).[0m ×2 + 7.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886966 ms (missed cycles : 3). + 7.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.886966 ms (missed cycles : 3).[0m ×2 + 8.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520033 ms (missed cycles : 3). + 8.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.520033 ms (missed cycles : 3).[0m ×2 + 9.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167127 ms (missed cycles : 3). + 9.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.167127 ms (missed cycles : 3).[0m ×2 + 10.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858802 ms (missed cycles : 2). + 10.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.858802 ms (missed cycles : 2).[0m ×2 + 11.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283525 ms (missed cycles : 3). + 11.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.283525 ms (missed cycles : 3).[0m ×2 + 12.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145204 ms (missed cycles : 4). + 12.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.145204 ms (missed cycles : 4).[0m ×2 + 13.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491841 ms (missed cycles : 3). + 13.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.491841 ms (missed cycles : 3).[0m ×2 + 14.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218309 ms (missed cycles : 3). + 14.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218309 ms (missed cycles : 3).[0m ×2 + 15.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682118 ms (missed cycles : 3). + 15.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.682118 ms (missed cycles : 3).[0m ×2 + 16.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759724 ms (missed cycles : 3). + 16.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.759724 ms (missed cycles : 3).[0m ×2 + 17.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356610 ms (missed cycles : 3). + 17.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.356610 ms (missed cycles : 3).[0m ×2 + 18.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536217 ms (missed cycles : 3). + 18.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.536217 ms (missed cycles : 3).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561907 ms (missed cycles : 3). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.561907 ms (missed cycles : 3).[0m ×2 + 20.46sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.972ms + 21.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816550 ms (missed cycles : 3). + 21.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.816550 ms (missed cycles : 3).[0m ×2 + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243080 ms (missed cycles : 3). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.243080 ms (missed cycles : 3).[0m ×2 + 23.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855058 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.855058 ms (missed cycles : 2).[0m ×2 + 24.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885430 ms (missed cycles : 3). + 24.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885430 ms (missed cycles : 3).[0m ×2 + 25.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506941 ms (missed cycles : 3). + 25.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.506941 ms (missed cycles : 3).[0m ×2 + 26.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870969 ms (missed cycles : 3). + 26.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870969 ms (missed cycles : 3).[0m ×2 + 27.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154032 ms (missed cycles : 2). + 27.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.154032 ms (missed cycles : 2).[0m ×2 + 28.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906288 ms (missed cycles : 3). + 28.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.906288 ms (missed cycles : 3).[0m ×2 + 29.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348604 ms (missed cycles : 2). + 29.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.348604 ms (missed cycles : 2).[0m ×2 + 30.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591560 ms (missed cycles : 3). + 30.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.591560 ms (missed cycles : 3).[0m ×2 + 31.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351666 ms (missed cycles : 3). + 31.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.351666 ms (missed cycles : 3).[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210791 ms (missed cycles : 3). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.210791 ms (missed cycles : 3).[0m ×2 + 33.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642492 ms (missed cycles : 3). + 33.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.642492 ms (missed cycles : 3).[0m ×2 + 34.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225304 ms (missed cycles : 3). + 34.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.225304 ms (missed cycles : 3).[0m ×2 + 35.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120834 ms (missed cycles : 3). + 35.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.120834 ms (missed cycles : 3).[0m ×2 + 36.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611855 ms (missed cycles : 2). + 36.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.611855 ms (missed cycles : 2).[0m ×2 + 37.72sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965301 ms (missed cycles : 3). + 37.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965301 ms (missed cycles : 3).[0m ×2 + 38.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879287 ms (missed cycles : 3). + 38.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.879287 ms (missed cycles : 3).[0m ×2 + 39.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613994 ms (missed cycles : 3). + 39.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.613994 ms (missed cycles : 3).[0m ×2 + 40.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045724 ms (missed cycles : 2). + 40.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.045724 ms (missed cycles : 2).[0m ×2 + 41.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399632 ms (missed cycles : 3). + 41.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.399632 ms (missed cycles : 3).[0m ×2 + 43.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597204 ms (missed cycles : 3). + 43.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.597204 ms (missed cycles : 3).[0m ×2 + 44.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593457 ms (missed cycles : 3). + 44.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593457 ms (missed cycles : 3).[0m ×2 + 45.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3). + 45.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3).[0m ×2 + 46.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2). + 46.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2).[0m ×2 + 47.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2). + 47.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2).[0m ×2 + 47.38sINFOjoint_trajectory_controllerGoal reached, success! + 47.38sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.43sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551698.47413373 seconds ×3 + 47.99sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551699.03474092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2). + 48.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2).[0m ×2 + 49.12sINFOobjective_server_nodeFound path in 0 iterations (3.3012e-05 s). ×2 + 49.13sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 49.14sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2). + 49.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2).[0m ×2 | ||||
| ✓ passed | Move to Look at Plane | move_to_look_at_plane.xml | 31.6s | 107 warnings · 115 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 0.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 0.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 + 0.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.456ms + 1.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953317 ms (missed cycles : 2). + 1.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953317 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.242ms + 2.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915938 ms (missed cycles : 2). + 2.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915938 ms (missed cycles : 2).[0m ×2 + 2.79sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.79sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.82sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786551764.52938175 seconds ×3 + 3.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244421 ms (missed cycles : 2). + 3.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244421 ms (missed cycles : 2).[0m ×2 + 3.83sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.84sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786551766.09085631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.40sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.40sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 4.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 4.88sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764614 ms (missed cycles : 3). + 5.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764614 ms (missed cycles : 3).[0m ×2 + 6.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257038 ms (missed cycles : 2). + 6.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.257038 ms (missed cycles : 2).[0m ×2 + 6.94sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.00sINFOjoint_trajectory_controllerReceived new action goal + 7.00sINFOjoint_trajectory_controllerAccepted new action goal + 7.00sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.00sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470113 ms (missed cycles : 3). + 7.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.470113 ms (missed cycles : 3).[0m ×2 + 8.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619729 ms (missed cycles : 3). + 8.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.619729 ms (missed cycles : 3).[0m ×2 + 9.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.014ms + 9.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.676ms + 9.70sINFOros2_control_nodeMuJoCo sim: 0.73% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217072 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.217072 ms (missed cycles : 3).[0m ×2 + 10.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.461ms + 10.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.298ms + 11.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902693 ms (missed cycles : 3). + 11.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.902693 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.202ms + 11.70sINFOamclParticle filter update iteration stats: 3637 particles 723 points - 4.735ms + 12.19sINFOamclParticle filter update iteration stats: 2093 particles 723 points - 3.355ms + 12.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262326 ms (missed cycles : 4). + 12.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.262326 ms (missed cycles : 4).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 1.860ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.200ms + 13.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965821 ms (missed cycles : 3). + 13.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.965821 ms (missed cycles : 3).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.458ms + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.075ms + 14.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599532 ms (missed cycles : 3). + 14.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.599532 ms (missed cycles : 3).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.063ms + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 15.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256557 ms (missed cycles : 3). + 15.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.256557 ms (missed cycles : 3).[0m ×2 + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 16.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695484 ms (missed cycles : 3). + 16.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.695484 ms (missed cycles : 3).[0m ×2 + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.923ms + 17.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 17.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722931 ms (missed cycles : 2). + 17.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.722931 ms (missed cycles : 2).[0m ×2 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.339ms + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.964ms + 18.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242768 ms (missed cycles : 3). + 18.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.242768 ms (missed cycles : 3).[0m ×2 + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.984ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.938ms + 19.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501774 ms (missed cycles : 3). + 19.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.501774 ms (missed cycles : 3).[0m ×2 + 20.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.935ms + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 20.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197916 ms (missed cycles : 2). + 20.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.197916 ms (missed cycles : 2).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.944ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms + 22.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325395 ms (missed cycles : 2). + 22.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.325395 ms (missed cycles : 2).[0m ×2 + 22.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 22.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.443ms + 23.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636239 ms (missed cycles : 4). + 23.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636239 ms (missed cycles : 4).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.939ms + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.024ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 24.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552705 ms (missed cycles : 3). + 24.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.552705 ms (missed cycles : 3).[0m ×2 + 24.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.947ms + 25.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.132ms + 25.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016011 ms (missed cycles : 4). + 25.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.016011 ms (missed cycles : 4).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 26.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.262ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387331 ms (missed cycles : 3). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387331 ms (missed cycles : 3).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.457ms + 27.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786839 ms (missed cycles : 2). + 27.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.786839 ms (missed cycles : 2).[0m ×2 + 27.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.369ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.871ms + 28.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255067 ms (missed cycles : 4). + 28.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.255067 ms (missed cycles : 4).[0m ×2 + 28.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.078ms + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.483ms + 29.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001442 ms (missed cycles : 2). + 29.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.001442 ms (missed cycles : 2).[0m ×2 + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.344ms + 30.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241791 ms (missed cycles : 4). + 30.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241791 ms (missed cycles : 4).[0m ×2 + 30.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.891ms + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 31.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 31.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4). + 31.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4).[0m ×2 + 32.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 32.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 33.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2). + 33.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2).[0m ×2 + 33.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 33.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 34.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2). + 34.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2).[0m ×2 + 35.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3). + 35.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3).[0m ×2 + 35.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 35.41sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551797.12101150 seconds ×3 + 35.51sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.51sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.228ms + 35.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.564ms + 35.97sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551797.68347764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.305ms + 36.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3). + 36.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3).[0m ×2 + 36.35sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 36.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 36.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 37.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 37.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3). + 37.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3).[0m ×2 + 37.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.949ms + 37.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.710ms + 38.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.541ms | ||||
| ✓ passed | Solution - Move Forward 2m | solution_move_forward_2m.xml | 13.9s | 61 warnings · 138 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949837 ms (missed cycles : 5). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.949837 ms (missed cycles : 5).[0m ×2 + 1.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844699 ms (missed cycles : 3). + 1.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844699 ms (missed cycles : 3).[0m ×2 + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939747 ms (missed cycles : 3). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.939747 ms (missed cycles : 3).[0m ×2 + 2.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.996ms + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853634 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.853634 ms (missed cycles : 2).[0m ×2 + 3.54sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.54sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.59sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786551999.56968880 seconds ×3 + 3.61sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.61sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-2.97, 12.91) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.64sWARNlocal_costmap.local_costmapSensor origin at (-3.87, 12.95) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 3.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.808ms + 3.74sWARNlocal_costmap.local_costmapSensor origin at (-1.83, 8.52) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.74sWARNlocal_costmap.local_costmapSensor origin at (-2.72, 8.54) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.048ms + 4.14sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.530ms + 4.16sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786552000.14737177 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.19sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.19sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844343 ms (missed cycles : 3). + 4.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.844343 ms (missed cycles : 3).[0m ×2 + 4.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.499ms + 4.57sINFOobjective_server_nodeFound path in 0 iterations (5.11e-07 s). ×2 + 4.61sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.63sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.63sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.63sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.63sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.323ms + 5.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114467 ms (missed cycles : 2). + 5.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.114467 ms (missed cycles : 2).[0m ×2 + 5.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.653ms + 6.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.801ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073928 ms (missed cycles : 3). + 6.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.073928 ms (missed cycles : 3).[0m ×2 + 7.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.876ms + 7.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736412 ms (missed cycles : 3). + 7.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.736412 ms (missed cycles : 3).[0m ×2 + 8.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525912 ms (missed cycles : 2). + 8.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.525912 ms (missed cycles : 2).[0m ×2 + 8.89sINFOobjective_server_nodeFound path in 0 iterations (5.49e-07 s). ×2 + 8.92sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 8.96sINFOobjective_server_nodeFound path in 0 iterations (3.6e-07 s). ×2 + 9.02sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.06sINFOobjective_server_nodeFound path in 0 iterations (3.72e-07 s). ×2 + 9.14sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.20sINFOobjective_server_nodeFound path in 0 iterations (5.21e-07 s). ×2 + 9.43sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.49sINFOobjective_server_nodeFound path in 0 iterations (5.07e-07 s). ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483727 ms (missed cycles : 4). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.483727 ms (missed cycles : 4).[0m ×2 + 9.79sINFOobjective_server_nodeFound path in 33 iterations (0.0346455 s). ×2 + 10.14sINFOobjective_server_nodePath shortcutter: [X______________________________________________________________X_______X] ×2 + 10.21sINFOobjective_server_nodeFound path in 0 iterations (2.93e-07 s). ×2 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082569 ms (missed cycles : 2). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.082569 ms (missed cycles : 2).[0m ×2 + 10.72sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.78sINFOobjective_server_nodeFound path in 0 iterations (3.44e-07 s). ×2 + 11.23sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.48sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194843 ms (missed cycles : 2). + 11.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.194843 ms (missed cycles : 2).[0m ×2 + 12.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155833 ms (missed cycles : 2). + 12.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.155833 ms (missed cycles : 2).[0m ×2 + 13.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.533ms + 13.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146498 ms (missed cycles : 2). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146498 ms (missed cycles : 2).[0m ×2 + 13.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 14.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 14.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3). + 14.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3).[0m ×2 + 15.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.154ms + 15.45sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 15.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.076ms + 15.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3). + 15.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3).[0m ×2 + 16.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.584ms + 16.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3). + 17.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3).[0m ×2 + 17.48sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552013.46709681 seconds ×3 + 17.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 17.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.200ms + 18.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3). + 18.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3).[0m ×2 + 18.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 18.07sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552014.05914283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.08sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.08sINFOmove_groupClearing octomap...[0m ×2 + 18.08sINFOmove_groupOctomap cleared.[0m ×2 + 18.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.291ms + 18.61sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552014.59927583 seconds ×3 + 18.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.702ms + 18.83sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.379ms + 19.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.729ms + 19.17sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552015.15584230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2). + 19.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2).[0m ×2 + 19.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.503ms + 19.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.419ms + 19.76sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552015.74597621 seconds ×3 + 20.00sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 20.03sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.066ms | ||||
| ✓ passed | Take Wrist Camera Snapshot | wrist_snap.xml | 11.6s | 96 errors · 33 warnings · 401 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 0.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3). + 0.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3).[0m ×2 + 0.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.154ms + 0.92sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.076ms + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3). + 1.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.584ms + 2.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3). + 2.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3).[0m ×2 + 2.92sINFOjoint_trajectory_controllerGoal reached, success! + 2.93sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.95sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552013.46709681 seconds ×3 + 2.97sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 2.97sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.200ms + 3.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3). + 3.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3).[0m ×2 + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 3.54sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552014.05914283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.55sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.55sINFOmove_groupClearing octomap...[0m ×2 + 3.55sINFOmove_groupOctomap cleared.[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.291ms + 4.08sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552014.59927583 seconds ×3 + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.702ms + 4.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.379ms + 4.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.729ms + 4.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552015.15584230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2). + 4.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2).[0m ×2 + 4.89sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.503ms + 5.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.419ms + 5.23sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552015.74597621 seconds ×3 + 5.47sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.066ms + 5.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315738 ms (missed cycles : 2). + 6.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.190ms + 6.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315738 ms (missed cycles : 2).[0m ×2 + 6.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223684 ms (missed cycles : 3). + 6.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.223684 ms (missed cycles : 3).[0m ×2 + 7.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391133 ms (missed cycles : 3). + 7.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.391133 ms (missed cycles : 3).[0m ×2 + 8.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058442 ms (missed cycles : 4). + 8.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.058442 ms (missed cycles : 4).[0m ×2 + 10.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811674 ms (missed cycles : 2). + 10.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.811674 ms (missed cycles : 2).[0m ×2 + 11.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885733 ms (missed cycles : 3). + 11.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.885733 ms (missed cycles : 3).[0m ×2 + 11.31sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.31sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.32sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.39sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORweb_video_auth_proxy-35process has died [pid 9577, 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 + 11.40sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.40sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.41sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.43sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.43sERRORweb_bridge_auth_proxy-34process has died [pid 9576, 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 + 11.43sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.44sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.45sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.46sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.47sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.49sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.51sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.54sINFOvideo_server-33process has finished cleanly [pid 9575] ×2 + 11.54sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.56sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.59sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.61sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.64sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.67sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.70sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.73sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.75sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9574] ×2 + 11.76sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.79sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.83sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.83sINFOcontroller_managerShutdown request received.... + 11.83sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.83sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.83sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.83sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.83sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.83sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.83sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.83sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.83sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.83sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.83sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.83sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.83sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.83sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.83sINFOcontroller_managerShutting down the controller manager. + 11.83sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.83sERRORmove_group-21process has died [pid 9558, 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_4oj34d1s --params-file /tmp/launch_params_tao84m_i --params-file /tmp/launch_params_uks74um1 --params-file /tmp/launch_params_g8j9ga6b --params-file /tmp/launch_params_umrkvg65 --params-file /tmp/launch_params_wqsqautt']. ×2 + 11.85sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.87sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786552022.084 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.88sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.88sINFOui_teleop_bridge-30process has finished cleanly [pid 9572] ×2 + 11.90sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.91sINFOcomponent_container_mt-28process has finished cleanly [pid 9570] ×2 + 11.93sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.94sINFOexecute_objective_bridge-29process has finished cleanly [pid 9571] ×2 + 11.97sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 12.00sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 12.02sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 12.02sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 12.02sINFOmap_serverDeactivating + 12.02sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 12.03sINFOmap_serverCleaning up + 12.03sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 12.03sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 12.05sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 12.05sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 12.05sINFOcontroller_serverDeactivating + 12.05sINFOlocal_costmap.local_costmapDeactivating + 12.05sINFOvideo_server2026/08/12 16:27:01 INF shutting down gracefully ×2 + 12.05sINFOvideo_server2026/08/12 16:27:01 INF [WebRTC] closing ×2 + 12.05sINFOvideo_server2026/08/12 16:27:01 INF [RTSP] closing ×2 + 12.05sINFOvideo_server2026/08/12 16:27:01 INF waiting for running hooks ×2 + 12.05sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.05sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.05sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.05sERRORamclThe bond connection to the lifecycle manager has been broken + 12.05sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.05sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 12.05sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 12.06sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 12.06sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 12.06sERRORmove_groupStack trace (most recent call last) in thread 10190: ×2 + 12.06sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 12.06sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e1d25da63, in __clone ×2 + 12.06sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e1d1d0aa3, in ×2 + 12.06sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e1d462db3, in ×2 + 12.06sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7f7e1dbd3637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 12.06sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7e1d7f4620, in rclcpp::Rate::sleep() ×2 + 12.06sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7e1d736d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 12.06sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7f7e1d6f8087, in ×2 + 12.06sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e1d431390, in __cxa_throw ×2 + 12.06sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e1d41ba54, in std::terminate() ×2 + 12.06sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e1d4310d9, in ×2 + 12.06sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7f7e1d41bff4, in ×2 + 12.06sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e1d15c8fe, in abort ×2 + 12.06sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e1d17927d, in raise ×2 + 12.06sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7f7e1d1d2b2c, in pthread_kill ×2 + 12.06sERRORmove_groupAborted (Signal sent by tkill() 9558 0) ×2 + 12.06sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 12.06sINFOros2_control_nodeShutdown request received....[0m ×2 + 12.06sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 12.06sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 12.06sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 12.06sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 12.06sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 12.06sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 12.06sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 12.06sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 12.06sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 12.06sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 12.06sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 12.06sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 12.06sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 12.06sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×2 + 12.07sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 12.07sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.07sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 12.07sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 12.07sINFOodom_qos_relay.pymain() ×2 + 12.07sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 12.07sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 12.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 12.07sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 12.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 12.07sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 12.07sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 12.07sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 12.07sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 12.08sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 12.08sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 12.08sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 12.08sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 12.08sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 12.08sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.08sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.08sINFOros2_control_nodepublish_async_failures_ 1[0m ×2 + 12.08sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.11sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 12.12sINFOcontroller_serverCleaning up + 12.12sINFOlocal_costmap.local_costmapCleaning up + 12.17sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.17sINFOsmoother_serverDeactivating + 12.17sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.17sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.17sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.17sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.17sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.17sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.17sINFOvelocity_smootherDeactivating + 12.17sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.18sINFOsmoother_serverCleaning up + 12.19sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.19sINFOplanner_serverDeactivating + 12.19sINFOglobal_costmap.global_costmapDeactivating + 12.28sERRORcomponent_container_isolated-2process has died [pid 9444, 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_ej61bsai --params-file /tmp/launch_params_bm0qwo6h -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.28sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.28sINFOwaypoint_followerDeactivating + 12.28sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.33sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.33sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.34sINFOplanner_serverCleaning up + 12.36sINFOglobal_costmap.global_costmapCleaning up + 12.37sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.37sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.40sINFOlifecycle_manager_navigation[34m[1mDeactivating bt_navigator[0m[0m + 12.40sINFObt_navigatorDeactivating + 12.40sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.40sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.40sINFObehavior_serverDeactivating + 12.40sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.41sINFObehavior_serverCleaning up + 12.41sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.41sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.41sINFOwaypoint_followerCleaning up + 12.42sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.42sINFOvelocity_smootherCleaning up + 12.42sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.51sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.51sERRORbehavior_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.51sERRORlifecycle_manager_navigationFailed to change state for node: behavior_server + 12.51sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.51sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.51sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.51sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.51sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.51sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.51sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.52sERRORcontroller_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.52sERRORlifecycle_manager_navigationFailed to change state for node: controller_server + 12.52sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.52sERRORvelocity_smootherUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.52sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.54sERRORwaypoint_followerUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.54sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.54sINFObt_navigatorCleaning up + 12.72sINFObt_navigatorCompleted Cleaning up + 12.72sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.72sERRORbehavior_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 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 + 12.72sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9566] ×2 + 12.76sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9565] ×2 + 12.82sINFOobjective_server_node[2026-08-12 16:27:03.330] [moveit_pro_license] [critical] ×2 + 12.82sINFOobjective_server_node************************************************* ×4 + 12.82sINFOobjective_server_node* MoveIt Pro License ×2 + 12.82sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.82sINFOwaypoint_manager_node-23process has finished cleanly [pid 9560] ×2 + 12.83sINFOparameter_manager_node-22process has finished cleanly [pid 9559] ×2 + 12.84sINFOcomponent_container_mt-27process has finished cleanly [pid 9569] ×2 + 12.87sINFOobjective_server_node_main-26process has finished cleanly [pid 9568] ×2 + 12.87sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.89sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9450] ×2 + 12.92sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9449] ×2 + 13.02sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9448] ×2 + 13.02sINFOstatic_transform_publisher-4process has finished cleanly [pid 9446] ×2 + 13.03sERRORcomponent_container_isolated-1process has died [pid 9443, 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_ej61bsai --params-file /tmp/launch_params_liv2nywm -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 13.04sINFOstatic_transform_publisher-3process has finished cleanly [pid 9445] ×2 + 13.05sERRORodom_qos_relay.py-5process has died [pid 9447, exit code 1, cmd '/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py --ros-args -r __node:=sensor_qos_relay']. ×2 + 14.40sINFOweb_bridge-31process has finished cleanly [pid 9573] ×2 + 14.40sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.56sINFOros2_control_node-9process has finished cleanly [pid 9451] ×2 | ||||
| ✓ passed | Plan Path Along Surface - Loop | plan_path_along_surface_-_loop.xml | 11.0s | 3 errors · 52 warnings · 91 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms + 0.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703610 ms (missed cycles : 3). + 0.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.703610 ms (missed cycles : 3).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.807ms + 1.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405982 ms (missed cycles : 3). + 1.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.405982 ms (missed cycles : 3).[0m ×2 + 2.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833483 ms (missed cycles : 5). + 2.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.833483 ms (missed cycles : 5).[0m ×2 + 2.31sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.113ms + 3.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435107 ms (missed cycles : 4). + 3.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.435107 ms (missed cycles : 4).[0m ×2 + 3.69sINFOjoint_trajectory_controllerGoal reached, success! + 3.69sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.72sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786551852.42363739 seconds ×3 + 3.73sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.74sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-1.86, 10.57) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.82sWARNlocal_costmap.local_costmapSensor origin at (-2.59, 11.09) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.910ms + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.342ms + 4.28sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786551852.98606277 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.31sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.31sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206335 ms (missed cycles : 3). + 4.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.206335 ms (missed cycles : 3).[0m ×2 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.012ms + 4.72sINFOobjective_server_nodeFound path in 0 iterations (7.18e-07 s). ×2 + 4.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.904ms + 5.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.206ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.945ms + 5.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511521 ms (missed cycles : 3). + 5.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.511521 ms (missed cycles : 3).[0m ×2 + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.834ms + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.803ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.358ms + 6.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002426 ms (missed cycles : 5). + 6.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.002426 ms (missed cycles : 5).[0m ×2 + 6.53sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.59sINFOjoint_trajectory_controllerReceived new action goal + 6.59sINFOjoint_trajectory_controllerAccepted new action goal + 6.59sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.60sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.119ms + 7.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.177ms + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.491ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700135 ms (missed cycles : 3). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.700135 ms (missed cycles : 3).[0m ×2 + 7.59sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 5.338ms + 7.90sINFOamclParticle filter update iteration stats: 3149 particles 723 points - 4.337ms + 8.30sINFOamclParticle filter update iteration stats: 2512 particles 723 points - 4.500ms + 8.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689852 ms (missed cycles : 3). + 8.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.689852 ms (missed cycles : 3).[0m ×2 + 9.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203689 ms (missed cycles : 4). + 9.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203689 ms (missed cycles : 4).[0m ×2 + 9.70sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.036ms + 10.20sINFOamclParticle filter update iteration stats: 1523 particles 723 points - 3.572ms + 10.70sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.776ms + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745631 ms (missed cycles : 3). + 10.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.745631 ms (missed cycles : 3).[0m ×2 + 11.20sINFOamclParticle filter update iteration stats: 1086 particles 723 points - 1.494ms + 11.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.257ms + 11.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295128 ms (missed cycles : 2). + 11.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.295128 ms (missed cycles : 2).[0m ×2 + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.707ms + 12.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.187ms + 12.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040799 ms (missed cycles : 4). + 12.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.040799 ms (missed cycles : 4).[0m ×2 + 13.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 13.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 14.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420475 ms (missed cycles : 3). + 14.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420475 ms (missed cycles : 3).[0m ×2 + 14.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 14.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.189ms + 14.73sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 14.73sINFOjoint_trajectory_controllerGot request to cancel goal + 14.73sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.73sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.73sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.75sERRORobjective_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: 1786551863.45149779 seconds ×3 + 14.82sWARNlocal_costmap.local_costmapSensor origin at (-0.73, 3.94) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.82sWARNlocal_costmap.local_costmapSensor origin at (-1.63, 3.87) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 14.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.962ms + 15.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690924 ms (missed cycles : 3). + 15.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.690924 ms (missed cycles : 3).[0m ×2 + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.481ms + 15.31sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786551864.02068615 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.286ms + 15.74sINFOobjective_server_nodeFound path in 0 iterations (5.65e-07 s). ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.639ms + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.386ms + 16.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739607 ms (missed cycles : 2). + 16.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.739607 ms (missed cycles : 2).[0m ×2 + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.891ms + 16.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.986ms + 17.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.015ms + 17.31sINFOamclParticle filter update iteration stats: 4073 particles 723 points - 7.674ms | ||||
| ✓ passed | Move to Arm Upright | move_to_arm_upright.xml | 5.7s | 40 warnings · 59 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.08sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.456ms + 7.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953317 ms (missed cycles : 2). + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.953317 ms (missed cycles : 2).[0m ×2 + 8.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.242ms + 8.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915938 ms (missed cycles : 2). + 8.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.915938 ms (missed cycles : 2).[0m ×2 + 8.82sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786551764.52938175 seconds ×3 + 9.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244421 ms (missed cycles : 2). + 9.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.244421 ms (missed cycles : 2).[0m ×2 + 10.38sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786551766.09085631 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2). + 10.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295491 ms (missed cycles : 2).[0m ×2 + 10.89sINFOobjective_server_nodeFound path in 0 iterations (5.42e-07 s). ×2 + 11.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764614 ms (missed cycles : 3). + 11.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.764614 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Point-to-Point Trajectory | point-to-point_trajectory.xml | 4.9s | 38 warnings · 56 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379396 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.379396 ms (missed cycles : 4).[0m ×2 + 0.17sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.046ms + 0.87sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793207 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.793207 ms (missed cycles : 2).[0m ×2 + 1.57sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668100 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.668100 ms (missed cycles : 2).[0m ×2 + 2.77sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059854 ms (missed cycles : 5). + 3.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.059854 ms (missed cycles : 5).[0m ×2 + 3.88sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.88sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.92sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786551937.36087537 seconds ×3 + 3.93sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.94sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-2.31, 13.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 3.99sWARNlocal_costmap.local_costmapSensor origin at (-3.10, 13.49) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.07sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.405ms + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274103 ms (missed cycles : 2). + 4.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.274103 ms (missed cycles : 2).[0m ×2 + 4.49sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 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 + 4.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 4.94sINFOjoint_trajectory_controllerReceived new action goal + 4.94sINFOjoint_trajectory_controllerAccepted new action goal + 4.94sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.94sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 5.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 6.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 6.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 6.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 7.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 7.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 7.28sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 8.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 8.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 8.79sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 8.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 9.36sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.87sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 10.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 10.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Compute IK, Plan and Move | compute_ik_plan_and_move.xml | 3.8s | 30 warnings · 50 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593457 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.28sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551698.47413373 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551699.03474092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.3012e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2).[0m ×2 + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326154 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326154 ms (missed cycles : 3).[0m ×2 + 7.16sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786551702.30487442 seconds ×3 + 7.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505091 ms (missed cycles : 3). + 7.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505091 ms (missed cycles : 3).[0m ×2 + 7.73sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786551702.87495303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.12sINFOobjective_server_nodeFound path in 0 iterations (6.34e-07 s). ×2 + 8.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429712 ms (missed cycles : 2). + 8.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429712 ms (missed cycles : 2).[0m ×2 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567689 ms (missed cycles : 3). + 9.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567689 ms (missed cycles : 3).[0m ×2 | ||||
| ✓ passed | Take Scene Camera Snapshot | take_snap.xml | 1.1s | 21 warnings · 51 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.533ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146498 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146498 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.154ms + 2.22sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.076ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.584ms + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552013.46709681 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.200ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552014.05914283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.85sINFOmove_groupClearing octomap...[0m ×2 + 4.85sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.291ms + 5.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552014.59927583 seconds ×3 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.702ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.379ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.729ms + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552015.15584230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.503ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.419ms + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552015.74597621 seconds ×3 + 6.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.066ms + 7.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315738 ms (missed cycles : 2). + 7.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.190ms + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.315738 ms (missed cycles : 2).[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 3.593457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593457 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551698.47413373 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551699.03474092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.3012e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2).[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 3.593457 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.593457 ms (missed cycles : 3).[0m ×2 + 1.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3). + 1.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.905920 ms (missed cycles : 3).[0m ×2 + 2.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2). + 2.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625099 ms (missed cycles : 2).[0m ×2 + 3.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2). + 3.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2).[0m ×2 + 3.28sINFOjoint_trajectory_controllerGoal reached, success! + 3.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 3.33sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551698.47413373 seconds ×3 + 3.35sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 3.36sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 3.89sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551699.03474092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2).[0m ×2 + 5.03sINFOobjective_server_nodeFound path in 0 iterations (3.3012e-05 s). ×2 + 5.03sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.04sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.04sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.06sINFOjoint_trajectory_controllerReceived new action goal + 5.06sINFOjoint_trajectory_controllerAccepted new action goal + 5.06sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.06sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2). + 5.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2).[0m ×2 | ||||
| − skipped | Get Point Cloud Center Pose | get_point_cloud_center_pose.xml | 0.0s | 25 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | ML Move Boxes to Loading Zone | ml_move_boxes_to_loading_zone.xml | 0.0s | 25 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes Looping | move_boxes_looping.xml | 0.0s | 25 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move Boxes to Loading Zone Start from Waypoint | move_boxes_to_loading_zone_from_waypoint.xml | 0.0s | 25 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to a StampedPose | move_to_a_stampedpose.xml | 0.0s | 25 warnings · 36 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.531684 ms (missed cycles : 4).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.669171 ms (missed cycles : 4).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.210875 ms (missed cycles : 2).[0m ×2 + 3.10sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.310652 ms (missed cycles : 2).[0m ×2 + 4.07sINFOjoint_trajectory_controllerGoal reached, success! + 4.08sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.09sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551759.79507494 seconds ×3 + 4.11sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.12sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.00, 12.92) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.12sWARNlocal_costmap.local_costmapSensor origin at (-3.89, 12.97) is out of map bounds (-2.55, -2.50) to (2.43, 2.48). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 4353 particles 723 points - 4.456ms + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-2.38, 10.55) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.22sWARNlocal_costmap.local_costmapSensor origin at (-3.27, 10.59) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2). + 4.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.131289 ms (missed cycles : 2).[0m ×2 + 4.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.827ms + 4.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.172ms + 4.66sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551760.36687779 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.69sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 4.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.637ms + 5.06sINFOobjective_server_nodeFound path in 0 iterations (5.56e-07 s). ×2 + 5.10sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.12sINFOjoint_trajectory_controllerReceived new action goal + 5.12sINFOjoint_trajectory_controllerAccepted new action goal + 5.12sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.12sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.285ms + 5.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2). + 5.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.847538 ms (missed cycles : 2).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.430ms + 6.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3). + 6.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.499847 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Move to Pose No Preview | move_to_pose_no_preview.xml | 0.0s | 20 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2).[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551797.12101150 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.228ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.564ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551797.68347764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.305ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.949ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.710ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.541ms | ||||
| − skipped | Navigate to Clicked Point | navigate_to_clicked_point.xml | 0.0s | 20 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2).[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551797.12101150 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.228ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.564ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551797.68347764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.305ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.949ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.710ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.541ms | ||||
| − skipped | Segment Image from Point | segment_image_from_point.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Image from Text Prompt | segment_image_from_text_prompt.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Segment Point Cloud from Clicked Point | segment_point_cloud_from_clicked_point.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Square | solution_draw_square.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Spray Plane | solution_spray_plane.xml | 0.0s | 18 warnings · 50 info |
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.533ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146498 ms (missed cycles : 2). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146498 ms (missed cycles : 2).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.328ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.273ms + 1.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3). + 1.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945527 ms (missed cycles : 3).[0m ×2 + 1.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.154ms + 2.22sINFOros2_control_nodeMuJoCo sim: 2.05% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.076ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750835 ms (missed cycles : 3).[0m ×2 + 3.29sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.584ms + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.764639 ms (missed cycles : 3).[0m ×2 + 4.22sINFOjoint_trajectory_controllerGoal reached, success! + 4.22sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.25sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552013.46709681 seconds ×3 + 4.27sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.27sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.001ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.200ms + 4.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3). + 4.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.589927 ms (missed cycles : 3).[0m ×2 + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.085ms + 4.84sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552014.05914283 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.85sINFOmove_groupClearing octomap...[0m ×2 + 4.85sINFOmove_groupOctomap cleared.[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.291ms + 5.38sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552014.59927583 seconds ×3 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.702ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.379ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.729ms + 5.94sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552015.15584230 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.942685 ms (missed cycles : 2).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.503ms + 6.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.419ms + 6.53sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552015.74597621 seconds ×3 + 6.77sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 6.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.066ms | ||||
| − skipped | Calibrate SAM3 Mask Areas | calibrate_sam3_mask_areas.xml | 0.0s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237266 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237266 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Close Gripper | close_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 2.583423 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.583423 ms (missed cycles : 2).[0m ×2 + 0.17sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.18sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.22sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551698.47413373 seconds ×3 + 0.24sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.25sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.78sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551699.03474092 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.121033 ms (missed cycles : 2).[0m ×2 + 1.92sINFOobjective_server_nodeFound path in 0 iterations (3.3012e-05 s). ×2 + 1.92sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.94sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.94sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.95sINFOjoint_trajectory_controllerReceived new action goal + 1.95sINFOjoint_trajectory_controllerAccepted new action goal + 1.95sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.95sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2). + 2.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.815181 ms (missed cycles : 2).[0m ×2 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326154 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.326154 ms (missed cycles : 3).[0m ×2 + 4.05sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786551702.30487442 seconds ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505091 ms (missed cycles : 3). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.505091 ms (missed cycles : 3).[0m ×2 + 4.62sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786551702.87495303 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.01sINFOobjective_server_nodeFound path in 0 iterations (6.34e-07 s). ×2 + 5.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429712 ms (missed cycles : 2). + 5.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.429712 ms (missed cycles : 2).[0m ×2 + 6.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567689 ms (missed cycles : 3). + 6.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.567689 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Navigate to Clicked Point with Replanning | navigate_to_clicked_point_with_replanning.xml | 0.0s | 20 warnings · 37 info |
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 0.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.907ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4). + 0.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.102708 ms (missed cycles : 4).[0m ×2 + 1.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 1.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 1.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2). + 1.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.676740 ms (missed cycles : 2).[0m ×2 + 2.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.045ms + 2.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.498ms + 2.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2). + 2.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.016431 ms (missed cycles : 2).[0m ×2 + 3.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3). + 3.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.857558 ms (missed cycles : 3).[0m ×2 + 4.16sINFOjoint_trajectory_controllerGoal reached, success! + 4.16sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.951ms + 4.22sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551797.12101150 seconds ×3 + 4.23sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.24sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.32sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.85) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.228ms + 4.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.564ms + 4.78sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551797.68347764 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.80sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.80sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.305ms + 5.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3). + 5.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.807831 ms (missed cycles : 3).[0m ×2 + 5.16sINFOobjective_server_nodeFound path in 0 iterations (3.56e-07 s). ×2 + 5.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.437ms + 5.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.690ms + 5.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.839ms + 6.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3). + 6.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.763363 ms (missed cycles : 3).[0m ×2 + 6.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.949ms + 6.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.710ms + 6.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.541ms | ||||
| − skipped | Open Gripper | open_gripper.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Raster Path Along Fuselage | raster_path_along_fuselage.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Request Teleoperation | request_teleoperation.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | Solution - Find and Spray Plane | solution_-_find_and_spray_plane.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3).[0m ×2 | ||||
| − skipped | Solution - Draw Picknik | solution_draw_picknik.xml | 0.0s | 21 warnings · 41 info |
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551937.92645931 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.058ms + 0.10sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.10sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.079ms + 0.45sINFOjoint_trajectory_controllerReceived new action goal + 0.45sINFOjoint_trajectory_controllerAccepted new action goal + 0.45sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.45sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3). + 0.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.562573 ms (missed cycles : 3).[0m ×2 + 1.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.130998 ms (missed cycles : 2).[0m ×2 + 1.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.118ms + 2.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2). + 2.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.851523 ms (missed cycles : 2).[0m ×2 + 2.79sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.047ms + 3.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2). + 3.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.106081 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551942.22659302 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.33sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.621ms + 4.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2). + 4.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.609229 ms (missed cycles : 2).[0m ×2 + 4.87sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551942.79956388 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.38sINFOobjective_server_nodeFound path in 0 iterations (4.32e-07 s). ×2 + 5.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2). + 5.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.755847 ms (missed cycles : 2).[0m ×2 + 6.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 ms (missed cycles : 3). + 6.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.153343 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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
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/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/picknik_ur_base_config/share/picknik_ur_base_config/objectives7 skip
| − skipped | — | segment_image_from_no_negative_text_prompt_subtree.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | create_point_cloud_vector_from_masks.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/core3 pass6 skip
| ✓ passed | — | vector_subtrees_example.xml | 0.7s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.05sINFOmove_groupClearing octomap...[0m ×2 + 3.05sINFOmove_groupOctomap cleared.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.95sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 6.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 6.61sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.61sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.90sINFOjoint_trajectory_controllerReceived new action goal + 6.90sINFOjoint_trajectory_controllerAccepted new action goal + 6.90sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.90sINFOros2_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 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| ✓ passed | — | reset_planning_scene.xml | 0.6s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][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 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 | ||||
| − skipped | — | convert_collisionobject_to_graspableobject.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | createvector.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | find_nearest_pose_in_path.xml | 0.0s | 21 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.926659 ms (missed cycles : 2).[0m ×2 + 1.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 1.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 2.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 2.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 2.55sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 3.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 3.55sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.56sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.10sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.11sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.11sINFOmove_groupClearing octomap...[0m ×2 + 4.11sINFOmove_groupOctomap cleared.[0m ×2 + 4.12sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 4.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 4.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 4.68sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.69sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 5.26sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 5.41sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 5.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.01sINFOobjective_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 + 6.01sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.01sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.01sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.01sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.01sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.01sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 6.03sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.03sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.04sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.04sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 6.04sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 6.05sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 6.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 6.61sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.62sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.62sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.62sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.62sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | teleoperate.xml | 0.0s | 18 warnings · 103 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179556 ms (missed cycles : 2).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 1.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 1.49sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 2.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 2.49sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.50sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.03sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.05sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.05sINFOmove_groupClearing octomap...[0m ×2 + 3.05sINFOmove_groupOctomap cleared.[0m ×2 + 3.05sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 3.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 3.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 3.62sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 4.19sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 4.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 4.34sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 4.93sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.94sINFOobjective_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 + 4.94sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.95sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.95sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.95sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.95sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.95sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 4.97sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.97sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.97sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 4.97sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.98sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 4.98sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 4.99sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 5.55sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.56sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.56sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.56sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.56sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.56sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.56sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.56sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 | ||||
| − skipped | — | wait_for_joint_trajectory_approval.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/motion10 skip
| − skipped | — | execute_mtc_solution.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interpolate_to_joint_state.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/mujoco1 pass
| ✓ passed | — | reset_mujoco_sim.xml | 0.6s | 24 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237266 ms (missed cycles : 3). + 6.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.237266 ms (missed cycles : 3).[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/perception1 skip
| − skipped | — | get_imarker_pose_from_mesh_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
▾
/opt/overlay_ws/install/moveit_pro_objectives/share/moveit_pro_objectives/objectives/visualization3 skip
| − skipped | — | interactive_marker_visualization_example.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||
| − skipped | — | interactive_marker_visualization.xml | 0.0s | 21 warnings · 112 info |
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_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 2.538976 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.538976 ms (missed cycles : 2).[0m ×2 + 0.36sINFOros2_control_nodeMuJoCo sim: 0.72% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.768004 ms (missed cycles : 2).[0m ×2 + 1.36sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.37sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.90sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551652.95010018 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.92sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.92sINFOmove_groupClearing octomap...[0m ×2 + 1.92sINFOmove_groupOctomap cleared.[0m ×2 + 1.93sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551652.97029996 seconds ×3 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.321473 ms (missed cycles : 2).[0m ×2 + 2.49sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551653.53287840 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.50sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551653.54300022 seconds ×3 + 3.06sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551654.10898447 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.632991 ms (missed cycles : 2).[0m ×2 + 3.21sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551654.25960302 seconds ×3 + 3.80sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551654.84605217 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.81sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 3.82sINFOcontroller_managerDeactivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.82sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.82sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.82sINFOros2_control_nodeDeactivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.82sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.82sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested:
Simulation reset to 'default' keyframe. + 3.84sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.84sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.84sINFOcontroller_managerActivating controllers: [ platform_velocity_controller vacuum_gripper ] + 3.84sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.85sINFOcontroller_managerActivated controllers: [ platform_velocity_controller vacuum_gripper ] + 3.85sINFOros2_control_nodeActivated controllers: [ platform_velocity_controller vacuum_gripper ][0m ×2 + 3.86sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551654.90613031 seconds ×3 + 4.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.546169 ms (missed cycles : 3).[0m ×2 + 4.42sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551655.46342254 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.43sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.43sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.43sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.43sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.43sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.43sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.43sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2). + 5.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.922593 ms (missed cycles : 2).[0m ×2 + 5.48sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.48sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.77sINFOjoint_trajectory_controllerReceived new action goal + 5.77sINFOjoint_trajectory_controllerAccepted new action goal + 5.77sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.78sINFOros2_control_nodeAccepted new action goal[0m ×2 | ||||