MoveIt Pro Objective Integration Tests

Total objective tests

Objectives passed

Objectives failed

Objectives skipped

22.5s

Avg test time

100%

Objective pass rate

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1 pass

✓ passed	—	test_base_link_has_single_tf_parent	32.8s	12 errors · 308 warnings · 1231 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/2026-08-12-16-21-13-455653-0afa37648962-9422 ×2 + 0.00sINFOlaunchDefault logging verbosity is set to INFO ×2 + 13.99sINFOstatic_tf_odom_to_worldSpinning until stopped - publishing transform translation: ('0.000000', '0.000000', '0.000000') rotation: ('0.000000', '0.000000', '0.000000', '1.000000') from 'odom' to 'world' + 14.00sINFOstatic_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' + 14.13sINFOcontroller_managerUsing Steady (Monotonic) clock for triggering controller manager cycles. + 14.15sINFOcontroller_managerSubscribing to '/robot_description' topic for robot description. + 14.16sINFOcontroller_managerupdate rate is 600 Hz + 14.16sINFOcontroller_managerOverruns handling is : enabled + 14.16sINFOcontroller_managerSpawning controller_manager RT thread with scheduler priority: 50 + 14.16sWARNcontroller_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. + 14.17sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libdual_laser_merger.so + 14.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libcontroller_server_core.so + 14.20sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.20sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<merger_node::MergerNode> + 14.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.632856 ms (missed cycles : 9). + 14.23sINFOdual_laser_mergerTarget Frame: ridgeback_base_link + 14.26sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.26sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_controller::ControllerServer> + 14.28sINFOros2_control_node-9process started with pid [9480] ×2 + 14.29sINFOmove_group-21process started with pid [9560] ×2 + 14.29sINFOparameter_manager_node-22process started with pid [9563] ×2 + 14.29sINFOwaypoint_manager_node-23process started with pid [9564] ×2 + 14.29sINFOmove_joint_resampler_node-24process started with pid [9590] ×2 + 14.29sINFOmove_end_effector_resampler_node-25process started with pid [9591] ×2 + 14.29sINFOobjective_server_node_main-26process started with pid [9592] ×2 + 14.29sINFOcomponent_container_mt-27process started with pid [9593] ×2 + 14.29sINFOcomponent_container_mt-28process started with pid [9594] ×2 + 14.29sINFOexecute_objective_bridge-29process started with pid [9595] ×2 + 14.29sINFOui_teleop_bridge-30process started with pid [9596] ×2 + 14.29sINFOweb_bridge-31process started with pid [9597] ×2 + 14.29sINFOtf2_web_republisher_node-32process started with pid [9598] ×2 + 14.29sINFOvideo_server-33process started with pid [9599] ×2 + 14.29sINFOweb_bridge_auth_proxy-34process started with pid [9600] ×2 + 14.29sINFOweb_video_auth_proxy-35process started with pid [9604] ×2 + 14.30sINFOcomponent_container_isolated-1process started with pid [9472] ×2 + 14.31sINFOcomponent_container_isolated-2process started with pid [9473] ×2 + 14.31sINFOstatic_transform_publisher-3process started with pid [9474] ×2 + 14.31sINFOstatic_transform_publisher-4process started with pid [9475] ×2 + 14.31sINFOodom_qos_relay.py-5process started with pid [9476] ×2 + 14.31sINFOforward_stereo_publisher.py-6process started with pid [9477] ×2 + 14.31sINFOscan_to_scan_filter_chain-7process started with pid [9478] ×2 + 14.31sINFOscan_to_scan_filter_chain-8process started with pid [9479] ×2 + 14.31sINFOros2-10process started with pid [9547] ×2 + 14.32sINFOcontroller_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. + 14.32sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/dual_laser_merger' in container '/localization_container' ×2 + 14.33sINFOros2-11process started with pid [9550] ×2 + 14.33sINFOros2-12process started with pid [9551] ×2 + 14.33sINFOros2-13process started with pid [9552] ×2 + 14.33sINFOros2-14process started with pid [9553] ×2 + 14.33sINFOros2-15process started with pid [9554] ×2 + 14.33sINFOros2-16process started with pid [9555] ×2 + 14.33sINFOros2-17process started with pid [9556] ×2 + 14.33sINFOros2-18process started with pid [9557] ×2 + 14.33sINFOros2-19process started with pid [9558] ×2 + 14.33sINFOros2-20process started with pid [9559] ×2 + 14.35sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libmap_server_core.so + 14.45sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so + 14.45sINFOmoveit_studio_containerLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so + 14.46sWARNstatic_transform_publisherOld-style arguments are deprecated; see --help for new-style arguments[0m ×4 + 14.46sINFOstatic_transform_publisherSpinning until stopped - publishing transform ×4 + 14.46sINFOstatic_transform_publishertranslation: ('0.000000', '0.000000', '0.000000') ×4 + 14.46sINFOstatic_transform_publisherrotation: ('0.000000', '0.000000', '0.000000', '1.000000') ×4 + 14.46sINFOstatic_transform_publisherfrom 'mj_world' to 'map'[0m ×2 + 14.47sINFOstatic_transform_publisherfrom 'odom' to 'world'[0m ×2 + 14.47sINFOros2_control_nodeUsing Steady (Monotonic) clock for triggering controller manager cycles.[0m ×2 + 14.47sINFOros2_control_nodeSubscribing to '/robot_description' topic for robot description.[0m ×2 + 14.47sINFOros2_control_nodeupdate rate is 600 Hz[0m ×2 + 14.47sINFOros2_control_nodeOverruns handling is : enabled[0m ×2 + 14.47sINFOros2_control_nodeSpawning controller_manager RT thread with scheduler priority: 50[0m ×2 + 14.47sWARNros2_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 + 14.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 13.632856 ms (missed cycles : 9).[0m ×2 + 14.47sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.47sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher> + 14.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::CostmapFilterInfoServer> + 14.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapSaver> + 14.49sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.49sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_map_server::MapServer> + 14.49sINFOcontroller_serverCreating controller server + 14.49sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_point_cloud_publisher.so[0m ×2 + 14.50sINFOcomponent_container_mtLoad Library: /opt/ros/jazzy/lib/librobot_state_publisher_node.so[0m ×2 + 14.51sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.51sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<robot_state_publisher::RobotStatePublisher>[0m ×2 + 14.53sINFOlocal_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. + 14.54sINFOmap_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. + 14.54sINFOmap_serverCreating + 14.55sINFOlocal_costmap.local_costmapCreating Costmap + 14.55sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/map_server' in container '/localization_container' ×2 + 14.55sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libamcl_node_component.so + 14.56sINFOrobot_state_publisherRobot initialized + 14.56sINFOcontroller_managerReceived robot description from topic. + 14.56sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/controller_server' in container '/nav2_container' ×2 + 14.56sINFOcontroller_managerEnforcing command limits is disabled. Command limits from URDF will be ignored. + 14.57sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.57sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<beluga_amcl::AmclNode> + 14.57sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libsmoother_server_core.so + 14.57sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 14.57sINFOcomponent_container_mtRobot initialized[0m ×2 + 14.58sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_smoother::SmootherServer> + 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 '/robot_state_publisher' in container '/moveit_studio_container' ×2 + 14.60sINFOsmoother_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. + 14.61sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so + 14.62sINFOcontroller_managerLoading hardware 'ur_mujoco_control' + 14.62sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_ros_planning/lib/libsrdf_publisher_node.so[0m ×2 + 14.62sINFOros2_control_nodeLoading hardware 'ur_mujoco_control' [0m ×2 + 14.62sINFOparameter_manager_nodeStarted parameter manager node. ×2 + 14.63sINFOsmoother_serverCreating smoother server + 14.64sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/smoother_server' in container '/nav2_container' ×2 + 14.64sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libplanner_server_core.so + 14.64sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.65sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_planner::PlannerServer> + 14.66sINFOplanner_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. + 14.69sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/amcl' in container '/localization_container' ×2 + 14.69sINFOlocalization_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 14.70sINFOplanner_serverCreating + 14.70sINFOlocalization_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.70sINFOlocalization_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 14.70sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.70sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[0m ×4 + 14.70sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 14.72sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher>[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. + 14.74sINFOglobal_costmap.global_costmapCreating Costmap + 14.75sINFOlifecycle_manager_localizationCreating + 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> + 14.76sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<behavior_server::BehaviorServer> + 14.77sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/srdf_publisher' in container '/moveit_studio_container' ×2 + 14.78sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so + 14.78sINFOlifecycle_manager_localization[34m[1mCreating and initializing lifecycle service clients[0m[0m + 14.78sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libmtc_task_manager.so[0m ×2 + 14.79sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_localization' in container '/localization_container' ×2 + 14.79sINFOlifecycle_manager_localization[34m[1mStarting managed nodes bringup...[0m[0m + 14.79sINFOlifecycle_manager_localization[34m[1mConfiguring map_server[0m[0m + 14.79sINFOmap_serverConfiguring + 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. + 14.84sINFOmove_group.moveit.ros.rdf_loaderLoaded robot model in 0.246997 seconds + 14.84sINFOmove_groupLoaded robot model in 0.246997 seconds[0m ×2 + 14.84sINFOmove_group.moveit_pro.base.robot_modelLoading robot model 'ur5e'... + 14.84sINFOmove_group.moveit_pro.base.robot_modelNo root/virtual joint specified in SRDF. Assuming fixed joint + 14.85sINFOmove_groupLoading robot model 'ur5e'...[0m ×2 + 14.85sINFOmove_groupNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 14.86sINFOlaunch_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 + 14.91sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.91sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_bt_navigator::BtNavigator> + 14.93sINFOlifecycle_manager_localization[34m[1mConfiguring amcl[0m[0m + 14.93sINFOamclConfiguring + 14.94sINFOlifecycle_manager_localization[34m[1mActivating map_server[0m[0m + 14.94sINFOmap_serverActivating + 14.94sINFOmap_serverCreating bond (map_server) to lifecycle manager. + 14.96sINFObt_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. + 15.00sWARNlaser_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. + 15.00sWARNlaser_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. + 15.00sINFObt_navigatorCreating + 15.00sWARNscan_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 + 15.01sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/bt_navigator' in container '/nav2_container' ×2 + 15.02sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libwaypoint_follower_core.so + 15.03sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 15.03sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_waypoint_follower::WaypointFollower> + 15.06sINFOlifecycle_manager_localizationServer map_server connected with bond. + 15.06sINFOlifecycle_manager_localization[34m[1mActivating amcl[0m[0m + 15.06sINFOamclActivating + 15.06sINFOamclSubscribed to initial_pose_topic: /initialpose + 15.06sINFOvideo_server2026/08/12 16:21:32 INF MediaMTX v1.19.3, linux, amd64 ×2 + 15.06sINFOamclThe bond (amcl) connection to the lifecycle manager has been started (heartbeat timeout: 4.00 seconds) + 15.06sINFOvideo_server2026/08/12 16:21:32 INF configuration loaded from /tmp/moveit-webrtc-9vzoivof/mediamtx.yml ×2 + 15.06sINFOvideo_server2026/08/12 16:21:32 INF [RTSP] started with listeners on 127.0.0.1:13204 (TCP/RTSP) ×2 + 15.06sINFOvideo_server2026/08/12 16:21:32 INF [WebRTC] started with listeners on 127.0.0.1:13202 (TCP/HTTP), :3203 (UDP/ICE), :3203 (TCP/ICE) ×2 + 15.08sINFOwaypoint_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. + 15.09sINFOamclSubscribed to map_topic: /map + 15.10sINFOwaypoint_followerCreating + 15.10sINFOamclSubscribed to scan_topic: /scan_merged + 15.10sINFOamclCreated reinitialize_global_localization service + 15.10sINFOamclCreated request_nomotion_update service + 15.10sINFOamclA new map was received + 15.10sINFOamclInitializing particle filter instance + 15.12sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/waypoint_follower' in container '/nav2_container' ×2 + 15.12sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libvelocity_smoother_core.so + 15.12sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.12sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_velocity_smoother::VelocitySmoother> + 15.17sINFOvelocity_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. + 15.18sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/velocity_smoother' in container '/nav2_container' ×2 + 15.18sINFOnav2_containerLoad Library: /opt/ros/jazzy/lib/libnav2_lifecycle_manager_core.so + 15.19sINFOnav2_containerFound class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.19sINFOnav2_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<nav2_lifecycle_manager::LifecycleManager> + 15.23sINFOwaypoint_manager_nodeLoaded robot model in 0.3547 seconds[0m ×2 + 15.23sINFOwaypoint_manager_nodeLoading robot model 'ur5e'...[0m ×2 + 15.23sINFOwaypoint_manager_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 15.25sINFOlifecycle_manager_navigationCreating + 15.27sINFOlifecycle_manager_navigation[34m[1mCreating and initializing lifecycle service clients[0m[0m + 15.28sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/lifecycle_manager_navigation' in container '/nav2_container' ×2 + 15.28sINFOlifecycle_manager_navigation[34m[1mStarting managed nodes bringup...[0m[0m + 15.28sINFOlifecycle_manager_navigation[34m[1mConfiguring controller_server[0m[0m + 15.29sINFOcontroller_serverConfiguring controller interface + 15.29sINFOcontroller_servergetting progress checker plugins.. + 15.29sINFOcontroller_servergetting goal checker plugins.. + 15.29sINFOcontroller_serverController frequency set to 20.0000Hz + 15.29sINFOlocal_costmap.local_costmapConfiguring + 15.30sINFOlocal_costmap.local_costmapUsing plugin "obstacle_layer" + 15.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109172 ms (missed cycles : 2). + 15.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.109172 ms (missed cycles : 2).[0m ×2 + 15.35sINFOlocal_costmap.local_costmapSubscribed to Topics: scan_front scan_rear + 15.42sINFOlocal_costmap.local_costmapInitialized plugin "obstacle_layer" + 15.42sINFOlocal_costmap.local_costmapUsing plugin "inflation_layer" + 15.42sINFOlocal_costmap.local_costmapInitialized plugin "inflation_layer" + 15.46sINFOcontroller_serverCreated progress_checker : progress_checker of type nav2_controller::SimpleProgressChecker + 15.47sINFOcontroller_serverController Server has progress_checker progress checkers available. + 15.48sINFOcontroller_serverCreated goal checker : general_goal_checker of type nav2_controller::SimpleGoalChecker + 15.49sINFOcontroller_serverController Server has general_goal_checker goal checkers available. + 15.50sINFOcontroller_serverCreated controller : FollowPath of type nav2_mppi_controller::MPPIController + 15.52sINFOcontroller_serverController period is equal to model dt. Control sequence shifting is ON + 15.53sINFOcontroller_serverConstraintCritic instantiated with 1 power and 4.000000 weight. + 15.53sINFOcontroller_serverCritic loaded : mppi::critics::ConstraintCritic + 15.55sINFOcontroller_serverInflationCostCritic instantiated with 1 power and 300.000000 / 0.015000 weights. Critic will collision check based on footprint cost. + 15.55sINFOcontroller_serverCritic loaded : mppi::critics::CostCritic + 15.55sINFOcontroller_serverGoalCritic instantiated with 1 power and 5.000000 weight. + 15.55sINFOcontroller_serverCritic loaded : mppi::critics::GoalCritic + 15.56sINFOcontroller_serverGoalAngleCritic instantiated with 1 power, 3.000000 weight, 0.500000 angular threshold and symmetric_yaw_tolerance disabled + 15.56sINFOcontroller_serverCritic loaded : mppi::critics::GoalAngleCritic + 15.56sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 15.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.56sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sERRORmove_groupCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.57sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.58sWARNmove_groupJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 15.59sINFOcontroller_serverReferenceTrajectoryCritic instantiated with 1 power and 14.000000 weight + 15.59sINFOcontroller_serverCritic loaded : mppi::critics::PathAlignCritic + 15.60sINFOcontroller_serverCritic loaded : mppi::critics::PathFollowCritic + 15.61sINFOcontroller_serverPathAngleCritic instantiated with 1 power and 2.000000 weight. Mode set to: Forward Preference + 15.61sINFOcontroller_serverCritic loaded : mppi::critics::PathAngleCritic + 15.61sINFOcontroller_serverPreferForwardCritic instantiated with 1 power and 5.000000 weight. + 15.61sINFOcontroller_serverCritic loaded : mppi::critics::PreferForwardCritic + 15.62sINFOcontroller_serverOptimizer reset ×2 + 15.64sINFOcontroller_serverController Server has FollowPath controllers available. + 15.67sINFOlifecycle_manager_navigation[34m[1mConfiguring smoother_server[0m[0m + 15.67sINFOsmoother_serverConfiguring smoother server + 15.69sINFOsmoother_serverCreated smoother : simple_smoother of type nav2_smoother::SimpleSmoother + 15.70sINFOsmoother_serverSmoother Server has simple_smoother smoothers available. + 15.72sINFOlifecycle_manager_navigation[34m[1mConfiguring planner_server[0m[0m + 15.72sINFOplanner_serverConfiguring + 15.72sINFOglobal_costmap.global_costmapConfiguring + 15.74sINFOglobal_costmap.global_costmapUsing plugin "static_layer" + 15.75sINFOglobal_costmap.global_costmapSubscribing to the map topic (/map) with transient local durability + 15.76sINFOglobal_costmap.global_costmapInitialized plugin "static_layer" + 15.76sINFOglobal_costmap.global_costmapUsing plugin "obstacle_layer" + 15.76sINFOglobal_costmap.global_costmapSubscribed to Topics: scan_front scan_rear + 15.77sINFOamclParticle filter initialization completed + 15.77sINFOamclInitializing particles from estimated pose and covariance + 15.77sINFOamclParticle filter initialized with 5000 particles about initial pose x=0, y=0, yaw=0 + 15.80sINFOglobal_costmap.global_costmapInitialized plugin "obstacle_layer" + 15.80sINFOglobal_costmap.global_costmapUsing plugin "inflation_layer" + 15.81sINFOglobal_costmap.global_costmapInitialized plugin "inflation_layer" + 15.85sINFOplanner_serverCreated global planner plugin GridBased of type nav2_navfn_planner::NavfnPlanner + 15.85sINFOplanner_serverConfiguring plugin GridBased of type NavfnPlanner + 15.85sINFOglobal_costmap.global_costmapStaticLayer: Resizing costmap to 1007 X 1231 at 0.050000 m/pix + 15.86sINFOplanner_serverPlanner Server has GridBased planners available. + 15.86sINFOlifecycle_manager_localizationServer amcl connected with bond. + 15.86sINFOlifecycle_manager_localization[34m[1mManaged nodes are active[0m[0m + 15.86sINFOlifecycle_manager_localization[34m[1mCreating bond timer...[0m[0m + 15.87sINFOamclThe bond connection to the lifecycle manager is now fully formed + 15.89sINFOlifecycle_manager_navigation[34m[1mConfiguring behavior_server[0m[0m + 15.89sINFObehavior_serverConfiguring + 15.91sINFObehavior_serverCreating behavior plugin spin of type nav2_behaviors::Spin + 15.91sINFObehavior_serverCreating behavior plugin backup of type nav2_behaviors::BackUp + 15.92sINFObehavior_serverCreating behavior plugin drive_on_heading of type nav2_behaviors::DriveOnHeading + 15.92sINFObehavior_serverCreating behavior plugin assisted_teleop of type nav2_behaviors::AssistedTeleop + 15.93sINFObehavior_serverCreating behavior plugin wait of type nav2_behaviors::Wait + 15.93sINFObehavior_serverConfiguring spin + 15.96sINFObehavior_serverConfiguring backup + 15.97sINFObehavior_serverConfiguring drive_on_heading + 15.98sINFObehavior_serverConfiguring assisted_teleop + 16.01sINFObehavior_serverConfiguring wait + 16.02sINFOlifecycle_manager_navigation[34m[1mConfiguring bt_navigator[0m[0m + 16.02sINFObt_navigatorConfiguring + 16.03sINFOmove_group[2026-08-12 16:21:32.999] [moveit_pro_license] [info] ×2 + 16.03sINFOmove_group************************************************* ×4 + 16.03sINFOmove_group* MoveIt Pro License ×2 + 16.03sINFOmove_group* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.05sINFObt_navigatorCreating navigator id navigate_to_pose of type nav2_bt_navigator::NavigateToPoseNavigator + 16.06sWARNbt_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 + 16.22sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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 + 16.23sWARNwaypoint_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. + 16.23sWARNwaypoint_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. + 16.24sWARNwaypoint_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 + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_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 + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_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 + 16.24sWARNwaypoint_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 + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_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. + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_rocker.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.24sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.front_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.front_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_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 + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_left_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.25sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.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 + 16.26sWARNwaypoint_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 + 16.26sWARNwaypoint_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. + 16.26sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.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 + 16.26sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.rear_right_wheel.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_pan_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.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 + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.27sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.shoulder_lift_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.elbow_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.28sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_1_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_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. + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_manager_nodeJoint-limits parameter 'robot_description_planning.joint_limits.wrist_2_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration.[0m ×2 + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.max_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.29sWARNwaypoint_managerJoint-limits parameter 'robot_description_planning.joint_limits.wrist_3_joint.min_position' is declared but uninitialized — keeping the URDF value. Set this in your joint_limits.yaml or remove its declaration. + 16.30sWARNwaypoint_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 + 16.30sWARNwaypoint_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 + 16.36sINFObt_navigatorCreating navigator id navigate_through_poses of type nav2_bt_navigator::NavigateThroughPosesNavigator + 16.48sINFOlifecycle_manager_navigation[34m[1mConfiguring waypoint_follower[0m[0m + 16.48sINFOwaypoint_followerConfiguring + 16.54sINFOwaypoint_followerCreated waypoint_task_executor : wait_at_waypoint of type nav2_waypoint_follower::WaitAtWaypoint + 16.54sINFOlifecycle_manager_navigation[34m[1mConfiguring velocity_smoother[0m[0m + 16.54sINFOvelocity_smootherConfiguring velocity smoother + 16.55sINFOlifecycle_manager_navigation[34m[1mActivating controller_server[0m[0m + 16.55sINFOcontroller_serverActivating + 16.55sINFOlocal_costmap.local_costmapActivating + 16.55sINFOlocal_costmap.local_costmapChecking transform + 16.55sINFOlocal_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. ×10 + 16.61sINFOwaypoint_manager_node[2026-08-12 16:21:33.587] [moveit_pro_license] [info] ×2 + 16.61sINFOwaypoint_manager_node************************************************* ×4 + 16.61sINFOwaypoint_manager_node* MoveIt Pro License ×2 + 16.61sINFOwaypoint_manager_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 16.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636956 ms (missed cycles : 3). + 16.67sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.636956 ms (missed cycles : 3).[0m ×2 + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorPublishing maintained planning scene on 'monitored_planning_scene' ×2 + 16.70sINFOmove_group.moveit.ros.moveit_cppListening to 'joint_states' for joint states + 16.70sINFOmove_groupPublishing maintained planning scene on 'monitored_planning_scene'[0m ×4 + 16.70sINFOmove_group.moveit.ros.current_state_monitorListening to joint states on topic 'joint_states' + 16.70sINFOmove_groupListening to 'joint_states' for joint states[0m ×2 + 16.70sINFOmove_groupListening to joint states on topic 'joint_states'[0m ×2 + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/attached_collision_object' for attached collision objects + 16.70sINFOmove_group.moveit.ros.planning_scene_monitorStopping existing planning scene publisher. + 16.71sINFOmove_group.moveit.ros.planning_scene_monitorStopped publishing maintained planning scene. + 16.71sINFOmove_groupListening to '/attached_collision_object' for attached collision objects[0m ×2 + 16.71sINFOmove_groupStopping existing planning scene publisher.[0m ×2 + 16.71sINFOmove_groupStopped publishing maintained planning scene.[0m ×2 + 16.72sINFOmove_group.moveit.ros.planning_scene_monitorStarting planning scene monitor + 16.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to '/planning_scene' + 16.72sINFOmove_group.moveit.ros.planning_scene_monitorStarting world geometry update monitor for collision objects, attached objects, octomap updates. + 16.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'collision_object' + 16.72sINFOmove_groupStarting planning scene monitor[0m ×2 + 16.72sINFOmove_groupListening to '/planning_scene'[0m ×2 + 16.72sINFOmove_groupStarting world geometry update monitor for collision objects, attached objects, octomap updates.[0m ×2 + 16.72sINFOmove_group.moveit.ros.planning_scene_monitorListening to 'planning_scene_world' for planning scene world geometry + 16.73sINFOmove_groupListening to 'collision_object'[0m ×2 + 16.73sINFOmove_groupListening to 'planning_scene_world' for planning scene world geometry[0m ×2 + 16.76sINFOcontroller_managerLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem' + 16.76sINFOcontroller_managerInitialize hardware 'ur_mujoco_control' + 16.77sINFOros2_control_nodeLoaded hardware 'ur_mujoco_control' from plugin 'picknik_mujoco_ros/MujocoSystem'[0m ×2 + 16.77sINFOros2_control_nodeInitialize hardware 'ur_mujoco_control' [0m ×2 + 16.98sINFOspawner_joint_velocity_controllerwaiting for service /controller_manager/list_controllers to become available... + 16.98sINFOros2waiting for service /controller_manager/list_controllers to become available...[0m ×2 + 17.40sINFOwaypoint_manager_nodeListening to joint states on topic 'joint_states'[0m ×2 + 17.40sINFOwaypoint_manager_nodeListening to '/attached_collision_object' for attached collision objects[0m ×2 + 17.41sINFOwaypoint_manager_nodeStarted waypoint manager node. ×2 + 17.84sINFOros2_control_nodeApplying keyframe to set initial state: default.[0m ×2 + 17.84sINFOcontroller_managerSuccessful initialization of hardware 'ur_mujoco_control' + 17.84sINFOros2_control_nodeAdded suction cup at site suction_cup[0m ×2 + 17.84sINFOros2_control_nodeResolved base link to MuJoCo body `ridgeback_base_link` (id 3) via explicit base_link_name parameter.[0m ×2 + 17.84sINFOcontroller_managerActivating component 'ur_mujoco_control'. + 17.84sINFOros2_control_nodeNew Lidar config detected[0m ×4 + 17.84sINFOcontroller_managerRegistering statistics for : ur_mujoco_control + 17.84sINFOros2_control_nodeLidar name: lidar_front[0m ×2 + 17.84sINFOcontroller_managerResource Manager has been successfully initialized. Starting Controller Manager services... + 17.84sINFOros2_control_nodeLidar beam std dev: 0.050000[0m ×4 + 17.84sINFOros2_control_nodeLidar angle min: 0.000000[0m ×4 + 17.84sINFOros2_control_nodeLidar angle max: 4.712400[0m ×4 + 17.84sINFOros2_control_nodeLidar angle increment: 0.052360[0m ×4 + 17.84sINFOros2_control_nodeLidar range min: 0.050000[0m ×4 + 17.84sINFOros2_control_nodeLidar range max: 25.000000[0m ×4 + 17.84sINFOros2_control_nodeLidar name: lidar_rear[0m ×2 + 17.85sINFOros2_control_nodeSuccessful initialization of hardware 'ur_mujoco_control'[0m ×2 + 17.85sINFOros2_control_nodeActivating component 'ur_mujoco_control'.[0m ×2 + 17.85sINFOros2_control_node'configure' hardware 'ur_mujoco_control' [0m ×2 + 17.85sINFOros2_control_nodeSuccessful 'configure' of hardware 'ur_mujoco_control'[0m ×2 + 17.85sINFOros2_control_node'activate' hardware 'ur_mujoco_control' [0m ×2 + 17.85sINFOros2_control_nodeSuccessful 'activate' of hardware 'ur_mujoco_control'[0m ×2 + 17.85sINFOros2_control_nodeRegistering statistics for : ur_mujoco_control[0m ×2 + 17.85sINFOros2_control_nodeResource Manager has been successfully initialized. Starting Controller Manager services...[0m ×2 + 17.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862761 ms (missed cycles : 2). + 17.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.862761 ms (missed cycles : 2).[0m ×2 + 17.87sWARNmujoco_systemNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.87sWARNbt_navigatorNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 17.87sWARNros2_control_nodeNew subscription discovered on topic '/odom', requesting incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY[0m ×2 + 17.97sINFOobjective_server_node[2026-08-12 16:21:34.946] [moveit_pro_license] [info] ×2 + 17.97sINFOobjective_server_node************************************************* ×4 + 17.97sINFOobjective_server_node* MoveIt Pro License ×2 + 17.97sINFOobjective_server_node* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 17.98sINFOcontroller_managerLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 17.98sINFOcontroller_managerLoading controller 'joint_velocity_controller' + 17.98sINFOros2_control_nodeLoading controller : 'joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 17.98sINFOros2_control_nodeLoading controller 'joint_velocity_controller'[0m ×2 + 18.06sINFOobjective_server_nodeLoaded robot model in 0.0305545 seconds[0m ×2 + 18.06sINFOobjective_server_nodeLoading robot model 'ur5e'...[0m ×2 + 18.06sINFOobjective_server_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 18.14sINFOcontroller_managerController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 18.14sINFOros2_control_nodeController 'joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 18.20sINFOspawner_joint_velocity_controller[94mLoaded [1mjoint_velocity_controller[0m + 18.20sINFOros2[94mLoaded [1mjoint_velocity_controller[0m[0m ×2 + 18.20sINFOcontroller_managerConfiguring controller: 'joint_velocity_controller' + 18.20sINFOros2_control_nodeConfiguring controller: 'joint_velocity_controller'[0m ×2 + 18.22sINFOros2_control_nodeLoading robot model 'ur5e'...[0m ×8 + 18.22sINFOros2_control_nodeNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×8 + 18.22sINFOros2_control_nodeMuJoCo offscreen rendering bound to EGL vendor 'Mesa Project' (1.5).[0m ×2 + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.36sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.36sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode> + 18.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode>[0m ×4 + 18.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode>[0m ×4 + 18.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode>[0m ×4 + 18.36sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode>[0m ×4 + 18.37sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.37sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::mtc_task_manager::MtcTaskManagerNode>[0m ×2 + 18.40sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/mtc_task_manager_node' in container '/moveit_studio_container' ×2 + 18.40sINFOmoveit_studio_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so + 18.40sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libplanning_scene_listener.so[0m ×2 + 18.57sINFOmoveit_studio_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.57sINFOmoveit_studio_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode> + 18.57sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.58sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::planning_scene_listener::PlanningSceneListenerNode>[0m ×2 + 18.59sWARNcomponent_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 + 18.62sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint' ×2 + 18.62sERRORobjective_server_nodeCannot specify position limits for continuous joint 'rotational_yaw_joint'[0m ×4 + 18.62sWARNobjective_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. + 18.62sWARNobjective_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. + 18.62sWARNobjective_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. + 18.62sWARNobjective_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 + 18.62sWARNobjective_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 + 18.62sWARNobjective_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. + 18.62sWARNobjective_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. + 18.62sWARNobjective_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 + 18.62sWARNobjective_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 + 18.62sWARNobjective_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. + 18.62sWARNobjective_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. + 18.63sWARNobjective_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. + 18.63sWARNobjective_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 + 18.63sWARNobjective_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 + 18.63sWARNobjective_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 + 18.63sWARNobjective_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. + 18.63sWARNobjective_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. + 18.63sWARNobjective_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 + 18.63sWARNobjective_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 + 18.63sWARNobjective_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 + 18.70sINFOobjective_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 + 18.70sINFOobjective_server_nodeat line 127 in ./src/class_loader.cpp ×2 + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::ConvertMetricNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::CropForemostNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::DisparityNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzRadialNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyziRadialNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::PointCloudXyzrgbRadialNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<depth_image_proc::RegisterNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropDecimateNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::CropNonZeroNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::DebayerNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::RectifyNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::ResizeNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<image_proc::TrackMarkerNode> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_ros_planning::SrdfPublisher> + 18.72sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.72sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode> + 18.73sINFOobjective_server_nodeLoading 6 behavior loader plugin(s): ×2 + 18.73sINFOobjective_server_nodemoveit_pro::behaviors::NavBehaviorsLoader ×2 + 18.73sINFOobjective_server_nodemoveit_pro::behaviors::MTCCoreBehaviorsLoader ×2 + 18.73sINFOobjective_server_nodemoveit_pro::behaviors::ConverterBehaviorsLoader ×2 + 18.73sINFOobjective_server_nodemoveit_pro::behaviors::MujocoBehaviorsLoader ×2 + 18.73sINFOobjective_server_nodemoveit_pro::behaviors::CoreBehaviorsLoader ×2 + 18.73sINFOobjective_server_nodemoveit_pro::behaviors::VisionBehaviorsLoader ×2 + 18.74sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.74sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_point_cloud_publisher::StreamingPointCloudPublisherNode>[0m ×2 + 18.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud' + 18.75sINFOros2_control_node[2026-08-12 16:21:35.724] [info] Controller state will be published at 20 Hz. ×2 + 18.75sINFOcomponent_container_mtDiscovered point cloud source '/merged_cloud' -> '/moveit_pro_ui/streaming_point_cloud/merged_cloud'[0m ×2 + 18.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera' + 18.75sINFOstreaming_point_cloud_publisher_nodeDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera' + 18.75sINFOstreaming_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) + 18.76sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_point_cloud_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.76sINFOcomponent_container_mtDiscovered point cloud source '/scene_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/scene_camera'[0m ×2 + 18.76sINFOcomponent_container_mtDiscovered point cloud source '/wrist_camera/points' -> '/moveit_pro_ui/streaming_point_cloud/wrist_camera'[0m ×2 + 18.77sINFOcomponent_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 + 18.77sINFOros2_control_node[2026-08-12 16:21:35.728] [info] JointVelocityController 'on_configure' succeeded. ×2 + 18.77sINFOmoveit_studio_point_cloud_containerLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so + 18.77sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libstreaming_octomap_publisher.so[0m ×2 + 18.94sINFOmove_groupMoveGroup debug mode is ON + 18.94sINFOmove_groupMoveGroup debug mode is ON[0m ×2 + 18.94sINFOmove_group[96mLoading 'move_group/ApplyPlanningSceneService'...[0m ×2 + 18.96sINFOmoveit_studio_point_cloud_containerFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.96sINFOmoveit_studio_point_cloud_containerInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode> + 18.96sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.96sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::streaming_octomap_publisher::StreamingOctomapPublisherNode>[0m ×2 + 18.97sINFOros2_control_nodeMuJoCo camera rendering: shadows off (MJCF shadowsize 4096), offsamples 0 (MJCF asks 4).[0m ×2 + 18.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901069 ms (missed cycles : 2). + 18.98sINFOstreaming_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) + 18.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.901069 ms (missed cycles : 2).[0m ×2 + 18.98sINFOcomponent_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 + 18.98sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/streaming_octomap_publisher_node' in container '/moveit_studio_point_cloud_container' ×2 + 18.99sINFOmove_group[96mLoading 'move_group/ClearOctomapService'...[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/GetUrdfService'...[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/LoadGeometryFromFileService'...[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/MoveGroupGetPlanningSceneService'...[0m ×2 + 18.99sINFOmove_group[96mLoading 'move_group/MoveGroupKinematicsService'...[0m ×2 + 19.00sINFOcomponent_container_mtLoaded robot model in 0.407248 seconds[0m ×2 + 19.00sINFOcomponent_container_mtLoading robot model 'ur5e'...[0m ×2 + 19.00sINFOcomponent_container_mtNo root/virtual joint specified in SRDF. Assuming fixed joint[0m ×2 + 19.00sINFOmove_group[96mLoading 'move_group/SaveGeometryToFileService'...[0m ×2 + 19.00sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/GetPlanningGroups'...[0m ×2 + 19.05sINFOmove_group[96mLoading 'moveit_studio_plugins/move_group/URDFPlanningSceneCapability'...[0m ×2 + 19.07sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786551694.936 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 19.10sINFOcontroller_managerLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 19.10sINFOcontroller_managerLoading controller 'velocity_force_controller' + 19.10sINFOros2_control_nodeLoading controller : 'velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 19.10sINFOros2_control_nodeLoading controller 'velocity_force_controller'[0m ×2 + 19.10sINFOmove_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 ****************************************************** + 19.10sINFOmove_group ×8 + 19.10sINFOmove_group****************************************************** ×4 + 19.11sINFOmove_group* MoveGroup using: ×2 + 19.11sINFOmove_group* - apply_planning_scene_service ×2 + 19.11sINFOmove_group* - clear_octomap_service ×2 + 19.11sINFOmove_group* - get_group_urdf ×2 + 19.11sINFOmove_group* - load_geometry_from_file ×2 + 19.11sINFOmove_group* - get_planning_scene_service ×2 + 19.11sINFOmove_group* - kinematics_service ×2 + 19.11sINFOmove_group* - save_geometry_to_file ×2 + 19.11sINFOmove_group* - GetPlanningGroups ×2 + 19.11sINFOmove_group* - URDFPlanningSceneCapability ×2 + 19.11sINFOmove_group[0m ×2 + 19.11sINFOmove_group[92mYou can start planning now![0m ×2 + 19.13sINFOros2-19process has finished cleanly [pid 9558] ×2 + 19.17sINFOcontroller_managerController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 19.17sINFOros2_control_nodeController 'velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 19.21sINFOexecute_objective_delegateObjective action server is ready; advertising /execute_objective. + 19.21sINFOexecute_objective_bridgeObjective action server is ready; advertising /execute_objective.[0m ×2 + 19.23sINFOspawner_velocity_force_controller[94mLoaded [1mvelocity_force_controller[0m + 19.23sINFOros2[94mLoaded [1mvelocity_force_controller[0m[0m ×2 + 19.23sINFOcontroller_managerConfiguring controller: 'velocity_force_controller' + 19.23sINFOros2_control_nodeConfiguring controller: 'velocity_force_controller'[0m ×2 + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNcomponent_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 + 19.52sWARNplanning_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. + 19.52sWARNplanning_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. + 19.53sWARNcomponent_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 + 19.53sWARNplanning_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. + 19.53sWARNplanning_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. + 19.53sWARNcomponent_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 + 19.53sWARNplanning_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. + 19.53sWARNplanning_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. + 19.53sWARNplanning_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. + 19.53sWARNplanning_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. + 19.53sWARNcomponent_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 + 19.53sWARNcomponent_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 + 19.53sWARNcomponent_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 + 19.53sWARNcomponent_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 + 19.53sWARNplanning_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. + 19.53sWARNplanning_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. + 19.53sWARNcomponent_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 + 19.53sWARNplanning_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. + 19.53sWARNplanning_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. + 19.53sWARNcomponent_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 + 19.53sWARNcomponent_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 + 19.53sWARNcomponent_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 + 19.54sWARNcomponent_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 + 19.54sWARNcomponent_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 + 19.70sINFOcomponent_container_mt[2026-08-12 16:21:36.673] [moveit_pro_license] [info] ×2 + 19.70sINFOcomponent_container_mt************************************************* ×4 + 19.70sINFOcomponent_container_mt* MoveIt Pro License ×2 + 19.70sINFOcomponent_container_mt* License is Valid! The license key you provided is active (this license does not have an expiration date) ×2 + 19.73sINFOros2_control_node[2026-08-12 16:21:36.702] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 19.73sINFOros2_control_node[2026-08-12 16:21:36.705] [info] Controller state will be published at 10 Hz. ×2 + 19.73sINFOros2_control_node[2026-08-12 16:21:36.706] [info] VelocityForceController 'on_configure' succeeded. ×2 + 19.80sWARNros2_control_nodeCamera render tick took 0.77 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 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826581 ms (missed cycles : 2). + 20.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.826581 ms (missed cycles : 2).[0m ×2 + 20.07sINFOcomponent_container_mtStarting planning scene monitor[0m ×2 + 20.07sINFOcomponent_container_mtListening to '/planning_scene'[0m ×2 + 20.07sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/planning_scene_listener_node' in container '/moveit_studio_container' ×2 + 20.07sINFOcontroller_managerLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 20.07sINFOcontroller_managerLoading controller 'platform_velocity_controller_nav2' + 20.08sINFOros2_control_nodeLoading controller : 'platform_velocity_controller_nav2' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 20.08sINFOros2_control_nodeLoading controller 'platform_velocity_controller_nav2'[0m ×2 + 20.08sINFOcomponent_container_mtLoad Library: /opt/overlay_ws/install/moveit_studio_agent/lib/libcamera_topics_publisher.so[0m ×2 + 20.08sINFOcontroller_managerController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 20.09sINFOros2_control_nodeController 'platform_velocity_controller_nav2' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 20.12sINFOros2-17process has finished cleanly [pid 9556] ×2 + 20.14sINFOspawner_platform_velocity_controller_nav2[94mLoaded [1mplatform_velocity_controller_nav2[0m + 20.14sINFOros2[94mLoaded [1mplatform_velocity_controller_nav2[0m[0m ×2 + 20.14sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller_nav2' + 20.14sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller_nav2'[0m ×2 + 20.15sINFOplatform_velocity_controller_nav2configure successful + 20.15sINFOros2_control_nodeconfigure successful[0m ×6 + 20.30sINFOcomponent_container_mtFound class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.30sINFOcomponent_container_mtInstantiate class: rclcpp_components::NodeFactoryTemplate<moveit_studio_agent::camera_topics_publisher::CameraTopicsPublisherNode>[0m ×2 + 20.31sINFOlaunch_ros.actions.load_composable_nodesLoaded node '/camera_topics_publisher_node' in container '/moveit_studio_container' ×2 + 20.53sINFOcontroller_managerLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController' + 20.53sINFOcontroller_managerLoading controller 'arm_only_joint_velocity_controller' + 20.53sINFOcontroller_managerController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 20.53sINFOros2_control_nodeLoading controller : 'arm_only_joint_velocity_controller' of type 'joint_velocity_controller/JointVelocityController'[0m ×2 + 20.53sINFOros2_control_nodeLoading controller 'arm_only_joint_velocity_controller'[0m ×2 + 20.53sINFOros2_control_nodeController 'arm_only_joint_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 20.58sINFOros2-15process has finished cleanly [pid 9554] ×2 + 20.61sINFOspawner_arm_only_joint_velocity_controller[94mLoaded [1marm_only_joint_velocity_controller[0m + 20.61sINFOros2[94mLoaded [1marm_only_joint_velocity_controller[0m[0m ×2 + 20.61sINFOcontroller_managerConfiguring controller: 'arm_only_joint_velocity_controller' + 20.61sINFOros2_control_nodeConfiguring controller: 'arm_only_joint_velocity_controller'[0m ×2 + 20.76sWARNobjective_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 + 20.99sINFOros2_control_node[2026-08-12 16:21:37.967] [info] Controller state will be published at 20 Hz. ×2 + 21.00sINFOros2_control_node[2026-08-12 16:21:37.968] [info] JointVelocityController 'on_configure' succeeded. ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175465 ms (missed cycles : 2). + 21.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.175465 ms (missed cycles : 2).[0m ×2 + 21.09sINFOobjective_server_nodeWriting tree nodes model to: /github/home/.config/moveit_pro/hangar_sim/auto_created/generated_tree_nodes_model.xml ×2 + 21.32sINFOcontroller_managerLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster' + 21.32sINFOcontroller_managerLoading controller 'joint_state_broadcaster' + 21.33sINFOros2_control_nodeLoading controller : 'joint_state_broadcaster' of type 'joint_state_broadcaster/JointStateBroadcaster'[0m ×2 + 21.33sINFOros2_control_nodeLoading controller 'joint_state_broadcaster'[0m ×2 + 21.33sINFOcontroller_managerController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 21.33sINFOros2_control_nodeController 'joint_state_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 21.37sINFOros2-20process has finished cleanly [pid 9559] ×2 + 21.39sINFOspawner_joint_state_broadcaster[94mLoaded [1mjoint_state_broadcaster[0m + 21.39sINFOros2[94mLoaded [1mjoint_state_broadcaster[0m[0m ×2 + 21.39sINFOcontroller_managerConfiguring controller: 'joint_state_broadcaster' + 21.39sINFOjoint_state_broadcasterPublishing state interfaces defined in 'joints' and 'interfaces' parameters. + 21.39sINFOros2_control_nodeConfiguring controller: 'joint_state_broadcaster'[0m ×2 + 21.39sINFOros2_control_nodePublishing state interfaces defined in 'joints' and 'interfaces' parameters.[0m ×2 + 21.40sINFOcontroller_managerActivating controllers: [ joint_state_broadcaster ] + 21.40sINFOros2_control_nodeActivating controllers: [ joint_state_broadcaster ][0m ×2 + 21.40sINFOcontroller_managerSuccessfully switched controllers! ×7 + 21.40sINFOros2_control_nodeSuccessfully switched controllers![0m ×14 + 21.40sINFOspawner_joint_state_broadcaster[92mConfigured and activated [1mjoint_state_broadcaster[0m + 21.41sINFOros2[92mConfigured and activated [1mjoint_state_broadcaster[0m[0m ×2 + 21.55sINFOlocal_costmap.local_costmapstart + 21.58sINFOamclMessage Filter dropping message: frame 'ridgeback_base_link' at time 1786551697.437 for reason 'discarding message because the queue is full' + 21.58sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 3.374ms + 21.65sWARNcontroller_serverParameter controller_server.verbose not found + 21.65sINFOcontroller_serverCreating bond (controller_server) to lifecycle manager. + 21.66sWARNcontroller_serverNew publisher discovered on topic '/odom', offering incompatible QoS. No messages will be sent to it. Last incompatible policy: RELIABILITY_QOS_POLICY + 21.74sINFOcontroller_managerLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController' + 21.74sINFOcontroller_managerLoading controller 'platform_velocity_controller' + 21.74sINFOcontroller_managerController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 21.74sINFOros2_control_nodeLoading controller : 'platform_velocity_controller' of type 'clearpath_mecanum_drive_controller/MecanumDriveController'[0m ×2 + 21.74sINFOros2_control_nodeLoading controller 'platform_velocity_controller'[0m ×2 + 21.75sINFOros2_control_nodeController 'platform_velocity_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 21.77sINFOlifecycle_manager_navigationServer controller_server connected with bond. + 21.77sINFOlifecycle_manager_navigation[34m[1mActivating smoother_server[0m[0m + 21.77sINFOsmoother_serverActivating + 21.77sINFOsmoother_serverCreating bond (smoother_server) to lifecycle manager. + 21.77sINFOros2-12process has finished cleanly [pid 9551] ×2 + 21.80sINFOspawner_platform_velocity_controller[94mLoaded [1mplatform_velocity_controller[0m + 21.80sINFOros2[94mLoaded [1mplatform_velocity_controller[0m[0m ×2 + 21.81sINFOcontroller_managerConfiguring controller: 'platform_velocity_controller' + 21.81sINFOros2_control_nodeConfiguring controller: 'platform_velocity_controller'[0m ×2 + 21.81sINFOplatform_velocity_controllerconfigure successful + 21.81sINFOcontroller_managerActivating controllers: [ platform_velocity_controller ] + 21.81sINFOros2_control_nodeActivating controllers: [ platform_velocity_controller ][0m ×2 + 21.82sINFOspawner_platform_velocity_controller[92mConfigured and activated [1mplatform_velocity_controller[0m + 21.82sINFOros2[92mConfigured and activated [1mplatform_velocity_controller[0m[0m ×2 + 21.87sINFOlifecycle_manager_navigationServer smoother_server connected with bond. + 21.87sINFOlifecycle_manager_navigation[34m[1mActivating planner_server[0m[0m + 21.87sINFOplanner_serverActivating + 21.87sINFOglobal_costmap.global_costmapActivating + 21.87sINFOglobal_costmap.global_costmapChecking transform + 21.87sINFOglobal_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 1786551698.836610 but the earliest data is at time 1786551699.437402, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430354 ms (missed cycles : 6). + 22.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 8.430354 ms (missed cycles : 6).[0m ×2 + 22.15sINFOcontroller_managerLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController' + 22.15sINFOcontroller_managerLoading controller 'joint_trajectory_controller' + 22.15sINFOros2_control_nodeLoading controller : 'joint_trajectory_controller' of type 'joint_trajectory_controller/JointTrajectoryController'[0m ×2 + 22.15sINFOros2_control_nodeLoading controller 'joint_trajectory_controller'[0m ×2 + 22.15sINFOcontroller_managerController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 22.16sINFOros2_control_nodeController 'joint_trajectory_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 22.20sINFOros2-13process has finished cleanly [pid 9552] ×2 + 22.28sINFOspawner_joint_trajectory_controller[94mLoaded [1mjoint_trajectory_controller[0m + 22.28sINFOros2[94mLoaded [1mjoint_trajectory_controller[0m[0m ×2 + 22.28sINFOcontroller_managerConfiguring controller: 'joint_trajectory_controller' + 22.28sINFOjoint_trajectory_controllerCommand interfaces are [velocity] and state interfaces are [position velocity]. + 22.28sINFOjoint_trajectory_controllerUsing 'splines' interpolation method. + 22.28sINFOros2_control_nodeConfiguring controller: 'joint_trajectory_controller'[0m ×2 + 22.28sINFOros2_control_nodeUsing the legacy anti-windup technique is deprecated. This option will be removed by the ROS 2 Kilted Kaiju release. ×18 + 22.28sINFOjoint_trajectory_controllerGoals with partial set of joints are allowed + 22.28sINFOjoint_trajectory_controllerAction status changes will be monitored at 20.00 Hz. + 22.28sINFOros2_control_nodeCommand interfaces are [velocity] and state interfaces are [position velocity].[0m ×2 + 22.28sINFOros2_control_nodeUsing 'splines' interpolation method.[0m ×2 + 22.28sINFOros2_control_nodeGoals with partial set of joints are allowed[0m ×2 + 22.28sINFOros2_control_nodeAction status changes will be monitored at 20.00 Hz.[0m ×2 + 22.29sINFOjoint_trajectory_controllerNo scaling interface set. This controller will not read speed scaling from the hardware. + 22.29sINFOros2_control_nodeNo scaling interface set. This controller will not read speed scaling from the hardware.[0m ×2 + 22.37sINFOglobal_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 1786551699.299783 but the earliest data is at time 1786551699.437402, when looking up transform from frame [ridgeback_base_link] to frame [map] + 22.65sINFOcontroller_managerLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster' + 22.65sINFOcontroller_managerLoading controller 'force_torque_sensor_broadcaster' + 22.65sINFOros2_control_nodeLoading controller : 'force_torque_sensor_broadcaster' of type 'force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster'[0m ×2 + 22.65sINFOros2_control_nodeLoading controller 'force_torque_sensor_broadcaster'[0m ×2 + 22.66sINFOcontroller_managerController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 22.66sINFOros2_control_nodeController 'force_torque_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 22.67sINFOros2-16process has finished cleanly [pid 9555] ×2 + 22.72sINFOspawner_force_torque_sensor_broadcaster[94mLoaded [1mforce_torque_sensor_broadcaster[0m + 22.72sINFOros2[94mLoaded [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.72sINFOcontroller_managerConfiguring controller: 'force_torque_sensor_broadcaster' + 22.72sINFOros2_control_nodeConfiguring controller: 'force_torque_sensor_broadcaster'[0m ×2 + 22.73sINFOforce_torque_sensor_broadcasterconfigure successful + 22.73sINFOcontroller_managerActivating controllers: [ force_torque_sensor_broadcaster ] + 22.73sINFOros2_control_nodeActivating controllers: [ force_torque_sensor_broadcaster ][0m ×2 + 22.74sINFOspawner_force_torque_sensor_broadcaster[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m + 22.74sINFOros2[92mConfigured and activated [1mforce_torque_sensor_broadcaster[0m[0m ×2 + 22.87sINFOglobal_costmap.global_costmapstart + 23.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989881 ms (missed cycles : 3). + 23.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.989881 ms (missed cycles : 3).[0m ×2 + 23.08sINFOcontroller_managerLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster' + 23.08sINFOcontroller_managerLoading controller 'imu_sensor_broadcaster' + 23.08sINFOros2_control_nodeLoading controller : 'imu_sensor_broadcaster' of type 'imu_sensor_broadcaster/IMUSensorBroadcaster'[0m ×2 + 23.08sINFOros2_control_nodeLoading controller 'imu_sensor_broadcaster'[0m ×2 + 23.08sINFOcontroller_managerController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 23.08sINFOros2_control_nodeController 'imu_sensor_broadcaster' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 23.10sINFOros2-10process has finished cleanly [pid 9547] ×2 + 23.17sINFOspawner_imu_sensor_broadcaster[94mLoaded [1mimu_sensor_broadcaster[0m + 23.17sINFOros2[94mLoaded [1mimu_sensor_broadcaster[0m[0m ×2 + 23.17sINFOcontroller_managerConfiguring controller: 'imu_sensor_broadcaster' + 23.17sINFOros2_control_nodeConfiguring controller: 'imu_sensor_broadcaster'[0m ×2 + 23.17sINFOcontroller_managerActivating controllers: [ imu_sensor_broadcaster ] + 23.17sINFOros2_control_nodeActivating controllers: [ imu_sensor_broadcaster ][0m ×2 + 23.18sINFOspawner_imu_sensor_broadcaster[92mConfigured and activated [1mimu_sensor_broadcaster[0m + 23.18sINFOros2[92mConfigured and activated [1mimu_sensor_broadcaster[0m[0m ×2 + 23.53sINFOcontroller_managerLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController' + 23.53sINFOcontroller_managerLoading controller 'vacuum_gripper' + 23.53sINFOros2_control_nodeLoading controller : 'vacuum_gripper' of type 'position_controllers/GripperActionController'[0m ×2 + 23.53sINFOros2_control_nodeLoading controller 'vacuum_gripper'[0m ×2 + 23.53sINFOcontroller_managerController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 23.53sINFOros2_control_nodeController 'vacuum_gripper' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 23.55sINFOros2-11process has finished cleanly [pid 9550] ×2 + 23.55sWARNvacuum_gripper[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller + 23.56sWARNros2_control_node[Deprecated]: the `position_controllers/GripperActionController` and `effort_controllers::GripperActionController` controllers are replaced by 'parallel_gripper_controllers/GripperActionController' controller[0m ×2 + 23.60sINFOspawner_vacuum_gripper[94mLoaded [1mvacuum_gripper[0m + 23.61sINFOros2[94mLoaded [1mvacuum_gripper[0m[0m ×2 + 23.61sINFOcontroller_managerConfiguring controller: 'vacuum_gripper' + 23.61sINFOvacuum_gripperAction status changes will be monitored at 20.000000 Hz. + 23.61sINFOros2_control_nodeConfiguring controller: 'vacuum_gripper'[0m ×2 + 23.61sINFOros2_control_nodeAction status changes will be monitored at 20.000000 Hz.[0m ×2 + 23.61sINFOcontroller_managerActivating controllers: [ vacuum_gripper ] + 23.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper ][0m ×2 + 23.62sINFOspawner_vacuum_gripper[92mConfigured and activated [1mvacuum_gripper[0m + 23.62sINFOros2[92mConfigured and activated [1mvacuum_gripper[0m[0m ×2 + 23.92sINFOplanner_serverActivating plugin GridBased of type NavfnPlanner + 23.93sINFOplanner_serverCreating bond (planner_server) to lifecycle manager. + 24.00sINFOros2-14process has finished cleanly [pid 9553] ×2 + 24.01sINFOcontroller_managerLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController' + 24.01sINFOcontroller_managerLoading controller 'arm_only_velocity_force_controller' + 24.01sINFOros2_control_nodeLoading controller : 'arm_only_velocity_force_controller' of type 'velocity_force_controller/VelocityForceController'[0m ×2 + 24.01sINFOcontroller_managerController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md + 24.01sINFOros2_control_nodeLoading controller 'arm_only_velocity_force_controller'[0m ×2 + 24.01sINFOros2_control_nodeController 'arm_only_velocity_force_controller' node arguments: --ros-args --params-file /tmp/launch_params__pnsx7ia --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_paepoum3 --params-file /tmp/launch_params_82iub4md [0m ×2 + 24.03sINFOlifecycle_manager_navigationServer planner_server connected with bond. + 24.03sINFOlifecycle_manager_navigation[34m[1mActivating behavior_server[0m[0m + 24.03sINFObehavior_serverActivating + 24.03sINFObehavior_serverActivating spin + 24.03sINFObehavior_serverActivating backup + 24.03sINFObehavior_serverActivating drive_on_heading + 24.03sINFObehavior_serverActivating assisted_teleop + 24.03sINFObehavior_serverActivating wait + 24.03sINFObehavior_serverCreating bond (behavior_server) to lifecycle manager. + 24.07sINFOspawner_arm_only_velocity_force_controller[94mLoaded [1marm_only_velocity_force_controller[0m + 24.07sINFOros2[94mLoaded [1marm_only_velocity_force_controller[0m[0m ×2 + 24.07sINFOcontroller_managerConfiguring controller: 'arm_only_velocity_force_controller' + 24.08sINFOros2_control_nodeConfiguring controller: 'arm_only_velocity_force_controller'[0m ×2 + 24.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197827 ms (missed cycles : 2). + 24.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.197827 ms (missed cycles : 2).[0m ×2 + 24.14sINFOlifecycle_manager_navigationServer behavior_server connected with bond. + 24.14sINFOlifecycle_manager_navigation[34m[1mActivating bt_navigator[0m[0m + 24.14sINFObt_navigatorActivating + 24.21sINFObt_navigatorCreating bond (bt_navigator) to lifecycle manager. + 24.32sINFOlifecycle_manager_navigationServer bt_navigator connected with bond. + 24.32sINFOlifecycle_manager_navigation[34m[1mActivating waypoint_follower[0m[0m + 24.32sINFOwaypoint_followerActivating + 24.32sINFOwaypoint_followerCreating bond (waypoint_follower) to lifecycle manager. + 24.42sINFOlifecycle_manager_navigationServer waypoint_follower connected with bond. + 24.42sINFOlifecycle_manager_navigation[34m[1mActivating velocity_smoother[0m[0m + 24.42sINFOvelocity_smootherActivating + 24.42sINFOvelocity_smootherCreating bond (velocity_smoother) to lifecycle manager. + 24.53sINFOlifecycle_manager_navigationServer velocity_smoother connected with bond. + 24.53sINFOlifecycle_manager_navigation[34m[1mManaged nodes are active[0m[0m + 24.53sINFOlifecycle_manager_navigation[34m[1mCreating bond timer...[0m[0m + 24.63sINFOros2_control_node[2026-08-12 16:21:41.606] [warning] No force/torque sensor configured. The VFC will ignore force references. ×2 + 24.63sINFOros2_control_node[2026-08-12 16:21:41.608] [info] Controller state will be published at 10 Hz. ×2 + 24.63sINFOros2_control_node[2026-08-12 16:21:41.609] [info] VelocityForceController 'on_configure' succeeded. ×2 + 24.71sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 24.72sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 25.00sINFOros2-18process has finished cleanly [pid 9557] ×2 + 25.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844767 ms (missed cycles : 3). + 25.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844767 ms (missed cycles : 3).[0m ×2 + 26.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 26.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 27.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 27.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 27.88sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 28.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 28.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 29.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 29.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 29.84sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 29.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 29.85sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 29.85sINFOmove_groupClearing octomap...[0m ×2 + 29.85sINFOmove_groupOctomap cleared.[0m ×2 + 29.85sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 30.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 30.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 30.42sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 30.43sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 30.98sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.13sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 31.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 31.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 31.71sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 31.73sINFOobjective_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 + 31.73sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 31.73sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 31.73sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.73sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 31.73sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 31.73sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 31.75sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 31.75sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 31.76sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 31.76sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.76sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 31.76sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 31.77sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3

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

13 pass24 skip

✓ passed	Plan Path Along Surface 3 Passes	plan_path_along_surface_3_passes.xml	73.8s	3 errors · 236 warnings · 213 info
+ 0.00sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.683ms + 0.49sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.545ms + 0.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455728 ms (missed cycles : 3). + 0.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455728 ms (missed cycles : 3).[0m ×2 + 0.99sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.329ms + 1.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 1.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160217 ms (missed cycles : 2). + 1.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160217 ms (missed cycles : 2).[0m ×2 + 1.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 2.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 2.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705873 ms (missed cycles : 3). + 2.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705873 ms (missed cycles : 3).[0m ×2 + 2.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 3.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 3.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798340 ms (missed cycles : 4). + 3.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798340 ms (missed cycles : 4).[0m ×2 + 3.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 4.13sINFOobjective_server_nodeObjective cancellation through /cancel_objective requested; caller={type: UNKNOWN, name: ``, instance_id: ``}. Active goal was started by caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.14sINFOjoint_trajectory_controllerGot request to cancel goal + 4.14sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 4.14sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 4.14sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 4.16sERRORobjective_server_nodeExecution of Behavior Tree for Objective `Plan Path Along Surface - Loop` was cancelled via cancellation through /cancel_objective: Objective execution was halted; caller={type: UNKNOWN, name: ``, instance_id: ``} at time: 1786551916.72872376 seconds ×3 + 4.17sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.18sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.29sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 2.874ms + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.841ms + 4.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.717ms + 4.73sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786551917.29245496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082813 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082813 ms (missed cycles : 3).[0m ×2 + 4.99sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.372ms + 5.11sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 5.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.410ms + 5.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.611ms + 5.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 5.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814122 ms (missed cycles : 3). + 5.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814122 ms (missed cycles : 3).[0m ×2 + 6.19sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 6.256ms + 6.50sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 4.347ms + 6.79sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.355ms + 6.96sINFOobjective_server_nodePath shortcutter: [X___________________________________________________________________________________________________________________________________X] ×2 + 6.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643280 ms (missed cycles : 2). + 6.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.643280 ms (missed cycles : 2).[0m ×2 + 7.03sINFOjoint_trajectory_controllerReceived new action goal ×5 + 7.03sINFOjoint_trajectory_controllerAccepted new action goal ×5 + 7.03sINFOros2_control_nodeReceived new action goal[0m ×10 + 7.03sINFOros2_control_nodeAccepted new action goal[0m ×10 + 7.09sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.692ms + 7.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.269ms + 7.80sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 3.201ms + 8.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571638 ms (missed cycles : 3). + 8.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.571638 ms (missed cycles : 3).[0m ×2 + 8.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 8.38sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.282ms + 8.79sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.654ms + 9.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055804 ms (missed cycles : 4). + 9.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.055804 ms (missed cycles : 4).[0m ×2 + 10.08sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.073ms + 10.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922365 ms (missed cycles : 3). + 10.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.922365 ms (missed cycles : 3).[0m ×2 + 10.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.051ms + 11.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.992ms + 11.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362808 ms (missed cycles : 3). + 11.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.362808 ms (missed cycles : 3).[0m ×2 + 11.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.981ms + 12.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.690ms + 12.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965575 ms (missed cycles : 3). + 12.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.965575 ms (missed cycles : 3).[0m ×2 + 12.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms + 13.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.214ms + 13.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961548 ms (missed cycles : 3). + 13.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.961548 ms (missed cycles : 3).[0m ×2 + 13.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.416ms + 14.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms ×2 + 14.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950091 ms (missed cycles : 2). + 14.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.950091 ms (missed cycles : 2).[0m ×2 + 14.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.991ms + 15.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.985ms + 15.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.895ms + 15.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485950 ms (missed cycles : 3). + 15.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.485950 ms (missed cycles : 3).[0m ×2 + 16.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.224ms + 16.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.508ms + 16.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057049 ms (missed cycles : 3). + 16.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.057049 ms (missed cycles : 3).[0m ×2 + 17.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms ×3 + 17.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450413 ms (missed cycles : 5). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.450413 ms (missed cycles : 5).[0m ×2 + 18.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.954ms + 18.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.115ms + 18.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782226 ms (missed cycles : 3). + 18.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.782226 ms (missed cycles : 3).[0m ×2 + 19.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.013ms + 19.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.886ms + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356353 ms (missed cycles : 2). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.356353 ms (missed cycles : 2).[0m ×2 + 20.18sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms ×2 + 20.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.946ms ×2 + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236796 ms (missed cycles : 5). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.236796 ms (missed cycles : 5).[0m ×2 + 21.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.965ms + 21.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.424ms + 22.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167778 ms (missed cycles : 2). + 22.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.167778 ms (missed cycles : 2).[0m ×2 + 22.68sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 23.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215874 ms (missed cycles : 2). + 23.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.215874 ms (missed cycles : 2).[0m ×2 + 23.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.924ms ×2 + 23.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.945ms + 24.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.943ms + 24.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456991 ms (missed cycles : 4). + 24.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.456991 ms (missed cycles : 4).[0m ×2 + 24.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 25.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196020 ms (missed cycles : 2). + 25.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196020 ms (missed cycles : 2).[0m ×2 + 25.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 26.20sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.223ms + 26.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427798 ms (missed cycles : 2). + 26.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.427798 ms (missed cycles : 2).[0m ×2 + 26.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.843ms + 27.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.930ms + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346728 ms (missed cycles : 2). + 27.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.346728 ms (missed cycles : 2).[0m ×2 + 27.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.518ms + 28.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.978ms + 28.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031914 ms (missed cycles : 4). + 28.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 28.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.031914 ms (missed cycles : 4).[0m ×2 + 29.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.831ms + 29.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms ×2 + 29.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688120 ms (missed cycles : 5). + 29.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.688120 ms (missed cycles : 5).[0m ×2 + 30.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms + 30.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340316 ms (missed cycles : 2). + 30.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.340316 ms (missed cycles : 2).[0m ×2 + 31.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.910ms + 31.70sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.364ms + 31.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976586 ms (missed cycles : 4). + 31.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.976586 ms (missed cycles : 4).[0m ×2 + 32.31sINFOros2_control_nodeMuJoCo sim: 3.03% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 32.90sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.397ms + 33.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197622 ms (missed cycles : 3). + 33.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.197622 ms (missed cycles : 3).[0m ×2 + 34.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453155 ms (missed cycles : 5). + 34.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.453155 ms (missed cycles : 5).[0m ×2 + 34.28sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 34.28sINFOros2_control_nodeGoal reached, success![0m ×8 + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044184 ms (missed cycles : 4). + 35.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.044184 ms (missed cycles : 4).[0m ×2 + 35.44sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×9 + 36.26sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×9 + 36.26sINFOobjective_server_nodePlanning for 36 path waypoints. ×3 + 36.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831419 ms (missed cycles : 2). + 36.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.831419 ms (missed cycles : 2).[0m ×2 + 37.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110732 ms (missed cycles : 2). + 37.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.110732 ms (missed cycles : 2).[0m ×2 + 38.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066648 ms (missed cycles : 4). + 38.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.066648 ms (missed cycles : 4).[0m ×2 + 39.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms ×2 + 39.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.497ms + 39.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967415 ms (missed cycles : 2). + 39.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.967415 ms (missed cycles : 2).[0m ×2 + 39.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 40.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.395ms + 40.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236450 ms (missed cycles : 4). + 40.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.236450 ms (missed cycles : 4).[0m ×2 + 40.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 41.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.916ms + 41.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951681 ms (missed cycles : 2). + 41.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.951681 ms (missed cycles : 2).[0m ×2 + 41.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 42.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684236 ms (missed cycles : 2). + 42.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.684236 ms (missed cycles : 2).[0m ×2 + 43.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.902ms + 43.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387329 ms (missed cycles : 3). + 43.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.387329 ms (missed cycles : 3).[0m ×2 + 44.77sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629420 ms (missed cycles : 2). + 44.77sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.629420 ms (missed cycles : 2).[0m ×2 + 45.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.002ms + 45.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446395 ms (missed cycles : 4). + 45.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.446395 ms (missed cycles : 4).[0m ×2 + 46.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.928ms + 46.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114885 ms (missed cycles : 2). + 46.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.114885 ms (missed cycles : 2).[0m ×2 + 47.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.999ms + 47.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863151 ms (missed cycles : 2). + 47.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.863151 ms (missed cycles : 2).[0m ×2 + 48.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.236ms + 48.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247570 ms (missed cycles : 4). + 48.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.247570 ms (missed cycles : 4).[0m ×2 + 49.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.034ms + 49.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124412 ms (missed cycles : 4). + 49.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.124412 ms (missed cycles : 4).[0m ×2 + 51.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 51.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654306 ms (missed cycles : 4). + 51.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.654306 ms (missed cycles : 4).[0m ×2 + 52.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.240ms + 52.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080418 ms (missed cycles : 4). + 52.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.080418 ms (missed cycles : 4).[0m ×2 + 53.18sINFOobjective_server_nodePlanning for 31 path waypoints. ×6 + 53.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771195 ms (missed cycles : 2). + 53.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771195 ms (missed cycles : 2).[0m ×2 + 54.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760772 ms (missed cycles : 3). + 54.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.760772 ms (missed cycles : 3).[0m ×2 + 55.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633937 ms (missed cycles : 3). + 55.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.633937 ms (missed cycles : 3).[0m ×2 + 56.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642050 ms (missed cycles : 4). + 56.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.642050 ms (missed cycles : 4).[0m ×2 + 57.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333345 ms (missed cycles : 4). + 57.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.333345 ms (missed cycles : 4).[0m ×2 + 58.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 58.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816939 ms (missed cycles : 4). + 58.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.816939 ms (missed cycles : 4).[0m ×2 + 59.09sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 59.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.748824 ms (missed cycles : 4). + 59.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.748824 ms (missed cycles : 4).[0m ×2 + 60.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.953ms + 60.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398274 ms (missed cycles : 2). + 60.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.398274 ms (missed cycles : 2).[0m ×2 + 61.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731643 ms (missed cycles : 4). + 61.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.731643 ms (missed cycles : 4).[0m ×2 + 62.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 63.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475036 ms (missed cycles : 3). + 63.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.475036 ms (missed cycles : 3).[0m ×2 + 63.69sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.897ms + 64.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083372 ms (missed cycles : 3). + 64.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.083372 ms (missed cycles : 3).[0m ×2 + 65.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880801 ms (missed cycles : 3). + 65.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.880801 ms (missed cycles : 3).[0m ×2 + 65.39sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.095ms + 66.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854829 ms (missed cycles : 3). + 66.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.854829 ms (missed cycles : 3).[0m ×2 + 67.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872508 ms (missed cycles : 2). + 67.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.872508 ms (missed cycles : 2).[0m ×2 + 68.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698402 ms (missed cycles : 3). + 68.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.698402 ms (missed cycles : 3).[0m ×2 + 69.19sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.176ms + 69.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059069 ms (missed cycles : 4). + 69.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.059069 ms (missed cycles : 4).[0m ×2 + 69.89sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.822ms + 70.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800279 ms (missed cycles : 3). + 70.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.800279 ms (missed cycles : 3).[0m ×2 + 71.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.377ms + 71.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367560 ms (missed cycles : 4). + 71.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.367560 ms (missed cycles : 4).[0m ×2 + 72.29sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.019ms + 72.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004754 ms (missed cycles : 4). + 72.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.004754 ms (missed cycles : 4).[0m ×2 + 73.49sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 73.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488039 ms (missed cycles : 4). + 73.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.488039 ms (missed cycles : 4).[0m ×2 + 74.59sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms ×2 + 74.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365500 ms (missed cycles : 3). + 74.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365500 ms (missed cycles : 3).[0m ×2 + 75.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167278 ms (missed cycles : 4). + 75.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167278 ms (missed cycles : 4).[0m ×2 + 75.99sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 76.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995384 ms (missed cycles : 5). + 76.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995384 ms (missed cycles : 5).[0m ×2 + 77.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765185 ms (missed cycles : 4). + 77.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765185 ms (missed cycles : 4).[0m ×2 + 78.01sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786551990.57265186 seconds ×3 + 78.06sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 13.63) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 78.06sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 13.25) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 78.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.152ms + 78.49sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 78.57sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 78.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 78.83sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 78.83sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 79.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 80.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 80.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 80.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2
✓ passed	Generate Grid Pattern on Airplane	generate_grid_pattern_on_airplane.xml	57.5s	186 warnings · 164 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×4 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×8 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551752.08180022 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551752.64708519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.239e-05 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 1.75sINFOjoint_trajectory_controllerReceived new action goal ×4 + 1.75sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 1.75sINFOros2_control_nodeReceived new action goal[0m ×8 + 1.75sINFOros2_control_nodeAccepted new action goal[0m ×8 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983105 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983105 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786551755.89722490 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786551756.45920300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724895 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724895 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735053 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735053 ms (missed cycles : 3).[0m ×2 + 6.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979930 ms (missed cycles : 2). + 6.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.979930 ms (missed cycles : 2).[0m ×2 + 6.91sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________________________________________________________________________________________X] ×2 + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086529 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.086529 ms (missed cycles : 2).[0m ×2 + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094303 ms (missed cycles : 2). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.094303 ms (missed cycles : 2).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 3.155ms + 9.52sINFOamclParticle filter update iteration stats: 1172 particles 723 points - 2.073ms + 9.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054340 ms (missed cycles : 2). + 9.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.054340 ms (missed cycles : 2).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 10.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.186ms + 10.67sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187627 ms (missed cycles : 2). + 10.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187627 ms (missed cycles : 2).[0m ×2 + 11.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.256ms ×2 + 11.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.062ms + 11.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996839 ms (missed cycles : 3). + 11.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.996839 ms (missed cycles : 3).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.404ms + 12.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.345ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376061 ms (missed cycles : 3). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.376061 ms (missed cycles : 3).[0m ×2 + 12.82sINFOros2_control_nodeMuJoCo sim: 0.09% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 13.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.590ms + 13.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.033ms + 13.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679938 ms (missed cycles : 2). + 13.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679938 ms (missed cycles : 2).[0m ×2 + 14.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.346ms + 14.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.315ms + 14.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733914 ms (missed cycles : 2). + 14.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.733914 ms (missed cycles : 2).[0m ×2 + 15.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.520ms + 15.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 16.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856465 ms (missed cycles : 2). + 16.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856465 ms (missed cycles : 2).[0m ×2 + 16.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.319ms + 16.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.349ms + 17.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159318 ms (missed cycles : 2). + 17.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.159318 ms (missed cycles : 2).[0m ×2 + 17.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.016ms + 17.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.554ms + 18.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157648 ms (missed cycles : 2). + 18.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.157648 ms (missed cycles : 2).[0m ×2 + 18.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.001ms + 18.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.959ms + 19.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.989ms + 19.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845083 ms (missed cycles : 3). + 19.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845083 ms (missed cycles : 3).[0m ×2 + 19.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.650ms + 20.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.059ms + 20.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386222 ms (missed cycles : 3). + 20.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.386222 ms (missed cycles : 3).[0m ×2 + 20.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.126ms + 21.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.936ms + 21.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192989 ms (missed cycles : 3). + 21.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.192989 ms (missed cycles : 3).[0m ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.321ms + 22.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.948ms + 22.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738932 ms (missed cycles : 2). + 22.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.738932 ms (missed cycles : 2).[0m ×2 + 22.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.090ms + 23.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.963ms + 23.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974118 ms (missed cycles : 2). + 23.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.974118 ms (missed cycles : 2).[0m ×2 + 23.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.881ms + 24.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.950ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656605 ms (missed cycles : 4). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.656605 ms (missed cycles : 4).[0m ×2 + 24.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.056ms + 25.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms + 25.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151547 ms (missed cycles : 2). + 25.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.151547 ms (missed cycles : 2).[0m ×2 + 25.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.398ms + 26.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.925ms + 26.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862634 ms (missed cycles : 3). + 26.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.862634 ms (missed cycles : 3).[0m ×2 + 26.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.962ms + 27.11sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.529ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.918ms ×2 + 27.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481164 ms (missed cycles : 3). + 27.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.481164 ms (missed cycles : 3).[0m ×2 + 28.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.864ms + 28.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.074ms + 28.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132823 ms (missed cycles : 2). + 28.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132823 ms (missed cycles : 2).[0m ×2 + 29.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 29.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 29.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887989 ms (missed cycles : 3). + 29.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.887989 ms (missed cycles : 3).[0m ×2 + 30.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.181ms + 30.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654152 ms (missed cycles : 2). + 30.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.654152 ms (missed cycles : 2).[0m ×2 + 31.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.007ms + 31.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 31.73sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222937 ms (missed cycles : 4). + 31.73sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.222937 ms (missed cycles : 4).[0m ×2 + 32.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.867ms + 32.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.434ms + 32.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409036 ms (missed cycles : 4). + 32.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.409036 ms (missed cycles : 4).[0m ×2 + 33.12sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.942ms + 33.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.301ms + 33.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240579 ms (missed cycles : 2). + 33.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.240579 ms (missed cycles : 2).[0m ×2 + 34.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.357ms + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750897 ms (missed cycles : 3). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.750897 ms (missed cycles : 3).[0m ×2 + 35.68sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.68sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 35.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937720 ms (missed cycles : 4). + 35.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.937720 ms (missed cycles : 4).[0m ×2 + 36.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024762 ms (missed cycles : 5). + 36.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.024762 ms (missed cycles : 5).[0m ×2 + 37.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 2.701ms + 37.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893026 ms (missed cycles : 2). + 37.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.893026 ms (missed cycles : 2).[0m ×2 + 39.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103962 ms (missed cycles : 2). + 39.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.103962 ms (missed cycles : 2).[0m ×2 + 39.72sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.993ms + 40.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860663 ms (missed cycles : 3). + 40.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860663 ms (missed cycles : 3).[0m ×2 + 41.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625681 ms (missed cycles : 4). + 41.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.625681 ms (missed cycles : 4).[0m ×2 + 42.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826862 ms (missed cycles : 2). + 42.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826862 ms (missed cycles : 2).[0m ×2 + 42.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.481ms + 43.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549054 ms (missed cycles : 2). + 43.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.549054 ms (missed cycles : 2).[0m ×2 + 44.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244262 ms (missed cycles : 4). + 44.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.244262 ms (missed cycles : 4).[0m ×2 + 45.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614582 ms (missed cycles : 3). + 45.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.614582 ms (missed cycles : 3).[0m ×2 + 46.32sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 46.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796331 ms (missed cycles : 4). + 46.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.796331 ms (missed cycles : 4).[0m ×2 + 47.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856400 ms (missed cycles : 2). + 47.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.856400 ms (missed cycles : 2).[0m ×2 + 48.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758341 ms (missed cycles : 2). + 48.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.758341 ms (missed cycles : 2).[0m ×2 + 49.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274479 ms (missed cycles : 4). + 49.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.274479 ms (missed cycles : 4).[0m ×2 + 50.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860822 ms (missed cycles : 3). + 50.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.860822 ms (missed cycles : 3).[0m ×2 + 51.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814358 ms (missed cycles : 5). + 51.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.814358 ms (missed cycles : 5).[0m ×2 + 52.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 52.92sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436620 ms (missed cycles : 2). + 52.92sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.436620 ms (missed cycles : 2).[0m ×2 + 53.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111984 ms (missed cycles : 3). + 53.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.111984 ms (missed cycles : 3).[0m ×2 + 55.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570547 ms (missed cycles : 4). + 55.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.570547 ms (missed cycles : 4).[0m ×2 + 56.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.084875 ms (missed cycles : 5). + 56.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.084875 ms (missed cycles : 5).[0m ×2 + 56.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.856ms + 57.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 57.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 58.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 58.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 59.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 59.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 60.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 60.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 60.42sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 61.35sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 61.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 61.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 61.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 61.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 61.92sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 61.93sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 62.23sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 62.30sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 62.33sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 62.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 63.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 63.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2
✓ passed	Solution - Generate coverage path	solution_generate_coverage_path.xml	57.2s	188 warnings · 154 info
+ 0.00sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×9 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×9 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal ×4 + 0.47sINFOjoint_trajectory_controllerAccepted new action goal ×4 + 0.47sINFOros2_control_nodeReceived new action goal[0m ×8 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×8 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.28sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[0m ×2 + 7.40sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 7.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162939 ms (missed cycles : 3). + 7.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.162939 ms (missed cycles : 3).[0m ×2 + 8.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931828 ms (missed cycles : 2). + 8.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.931828 ms (missed cycles : 2).[0m ×2 + 9.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.965ms + 10.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845925 ms (missed cycles : 3). + 10.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.845925 ms (missed cycles : 3).[0m ×2 + 10.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.256ms + 10.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.362ms + 11.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218797 ms (missed cycles : 3). + 11.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.218797 ms (missed cycles : 3).[0m ×2 + 11.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.703ms + 11.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.249ms + 12.13sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.459ms + 12.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314099 ms (missed cycles : 4). + 12.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.314099 ms (missed cycles : 4).[0m ×2 + 12.63sINFOamclParticle filter update iteration stats: 4404 particles 723 points - 7.766ms + 13.13sINFOamclParticle filter update iteration stats: 3430 particles 723 points - 5.179ms + 13.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017066 ms (missed cycles : 4). + 13.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.017066 ms (missed cycles : 4).[0m ×2 + 13.63sINFOamclParticle filter update iteration stats: 2690 particles 723 points - 4.884ms + 13.74sINFOros2_control_nodeMuJoCo sim: 3.72% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 14.13sINFOamclParticle filter update iteration stats: 2282 particles 723 points - 3.469ms + 14.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835447 ms (missed cycles : 3). + 14.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.835447 ms (missed cycles : 3).[0m ×2 + 14.63sINFOamclParticle filter update iteration stats: 1481 particles 723 points - 3.049ms + 15.13sINFOamclParticle filter update iteration stats: 1364 particles 723 points - 2.143ms + 15.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653625 ms (missed cycles : 3). + 15.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.653625 ms (missed cycles : 3).[0m ×2 + 15.63sINFOamclParticle filter update iteration stats: 1054 particles 723 points - 1.972ms + 16.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.505ms + 16.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969046 ms (missed cycles : 3). + 16.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.969046 ms (missed cycles : 3).[0m ×2 + 16.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.721ms + 17.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.317ms + 17.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.701ms + 17.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403710 ms (missed cycles : 4). + 17.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.403710 ms (missed cycles : 4).[0m ×2 + 18.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.522ms + 18.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.298ms ×2 + 18.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203393 ms (missed cycles : 4). + 18.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.203393 ms (missed cycles : 4).[0m ×2 + 19.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.279ms ×2 + 19.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044239 ms (missed cycles : 3). + 19.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.044239 ms (missed cycles : 3).[0m ×2 + 20.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.528ms + 20.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 20.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958043 ms (missed cycles : 3). + 20.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.958043 ms (missed cycles : 3).[0m ×2 + 21.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.231ms ×2 + 21.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.054ms + 21.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797762 ms (missed cycles : 3). + 21.89sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.797762 ms (missed cycles : 3).[0m ×2 + 22.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 22.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.276ms + 22.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283598 ms (missed cycles : 4). + 22.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.283598 ms (missed cycles : 4).[0m ×2 + 23.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.941ms + 23.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.204ms + 23.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660039 ms (missed cycles : 4). + 23.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.660039 ms (missed cycles : 4).[0m ×2 + 24.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.297ms + 24.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.179ms + 24.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329881 ms (missed cycles : 4). + 24.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.329881 ms (missed cycles : 4).[0m ×2 + 25.61sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.977ms + 26.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725916 ms (missed cycles : 4). + 26.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.725916 ms (missed cycles : 4).[0m ×2 + 26.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.296ms + 26.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.596ms + 27.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950956 ms (missed cycles : 3). + 27.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.950956 ms (missed cycles : 3).[0m ×2 + 27.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.252ms + 27.62sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 28.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931248 ms (missed cycles : 4). + 28.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.931248 ms (missed cycles : 4).[0m ×2 + 28.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.221ms + 28.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.266ms + 29.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433004 ms (missed cycles : 4). + 29.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.433004 ms (missed cycles : 4).[0m ×2 + 29.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.338ms + 29.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 30.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.205ms + 30.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039653 ms (missed cycles : 4). + 30.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.039653 ms (missed cycles : 4).[0m ×2 + 30.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.684ms + 31.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.316ms + 31.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179097 ms (missed cycles : 3). + 31.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.179097 ms (missed cycles : 3).[0m ×2 + 31.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.328ms + 32.13sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.166ms + 32.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007205 ms (missed cycles : 3). + 32.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007205 ms (missed cycles : 3).[0m ×2 + 32.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.235ms + 33.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319299 ms (missed cycles : 4). + 33.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.319299 ms (missed cycles : 4).[0m ×2 + 33.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.396ms + 34.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146903 ms (missed cycles : 2). + 34.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.146903 ms (missed cycles : 2).[0m ×2 + 34.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.464ms + 35.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944613 ms (missed cycles : 4). + 35.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.944613 ms (missed cycles : 4).[0m ×2 + 35.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.280ms + 35.87sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 35.87sINFOobjective_server_nodePlanning for 13 path waypoints. ×3 + 36.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141863 ms (missed cycles : 2). + 36.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.141863 ms (missed cycles : 2).[0m ×2 + 37.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249946 ms (missed cycles : 2). + 37.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.249946 ms (missed cycles : 2).[0m ×2 + 38.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892972 ms (missed cycles : 4). + 38.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.892972 ms (missed cycles : 4).[0m ×2 + 39.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669629 ms (missed cycles : 2). + 39.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.669629 ms (missed cycles : 2).[0m ×2 + 40.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712462 ms (missed cycles : 2). + 40.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.712462 ms (missed cycles : 2).[0m ×2 + 41.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002712 ms (missed cycles : 3). + 41.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.002712 ms (missed cycles : 3).[0m ×2 + 42.23sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.660ms + 42.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324986 ms (missed cycles : 5). + 42.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.324986 ms (missed cycles : 5).[0m ×2 + 43.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728374 ms (missed cycles : 2). + 43.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.728374 ms (missed cycles : 2).[0m ×2 + 44.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463800 ms (missed cycles : 4). + 44.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.463800 ms (missed cycles : 4).[0m ×2 + 45.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890935 ms (missed cycles : 2). + 45.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.890935 ms (missed cycles : 2).[0m ×2 + 46.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486813 ms (missed cycles : 3). + 46.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.486813 ms (missed cycles : 3).[0m ×2 + 47.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318544 ms (missed cycles : 3). + 47.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.318544 ms (missed cycles : 3).[0m ×2 + 49.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619172 ms (missed cycles : 4). + 49.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.619172 ms (missed cycles : 4).[0m ×2 + 50.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416933 ms (missed cycles : 3). + 50.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.416933 ms (missed cycles : 3).[0m ×2 + 50.33sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.121ms + 51.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535508 ms (missed cycles : 4). + 51.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.535508 ms (missed cycles : 4).[0m ×2 + 52.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222040 ms (missed cycles : 3). + 52.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.222040 ms (missed cycles : 3).[0m ×2 + 52.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.114ms + 53.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625236 ms (missed cycles : 2). + 53.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.625236 ms (missed cycles : 2).[0m ×2 + 54.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636912 ms (missed cycles : 4). + 54.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.636912 ms (missed cycles : 4).[0m ×2 + 55.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783377 ms (missed cycles : 2). + 55.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.783377 ms (missed cycles : 2).[0m ×2 + 56.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309835 ms (missed cycles : 3). + 56.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.309835 ms (missed cycles : 3).[0m ×2 + 56.83sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.023ms + 57.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877181 ms (missed cycles : 3). + 57.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877181 ms (missed cycles : 3).[0m ×2 + 58.68sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594692 ms (missed cycles : 3). + 58.68sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594692 ms (missed cycles : 3).[0m ×2 + 59.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053848 ms (missed cycles : 4). + 59.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053848 ms (missed cycles : 4).[0m ×2 + 60.63sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 60.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366642 ms (missed cycles : 4). + 60.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366642 ms (missed cycles : 4).[0m ×2 + 61.50sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786552052.63669729 seconds ×3 + 61.59sWARNlocal_costmap.local_costmapSensor origin at (-1.09, 5.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.59sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 5.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 61.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.308ms + 61.73sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.444ms + 61.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943415 ms (missed cycles : 2). + 61.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943415 ms (missed cycles : 2).[0m ×2 + 62.04sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.183ms + 62.07sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786552053.20398569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 62.33sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 62.47sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 62.50sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 62.64sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.722ms + 63.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491226 ms (missed cycles : 3). + 63.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491226 ms (missed cycles : 3).[0m ×2 + 63.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.255ms + 64.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152802 ms (missed cycles : 3). + 64.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152802 ms (missed cycles : 3).[0m ×2
✓ passed	Plan Path Along Surface	plan_path_along_surface.xml	55.2s	186 warnings · 165 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 4.26sINFOros2_control_nodeGoal reached, success![0m ×6 + 4.31sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551850.82005262 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.534ms + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 7.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 7.18) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.494ms + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.105ms + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551851.38958073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.113ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.526ms + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.751ms + 6.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.781ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2).[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.597ms + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 6.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.627ms + 7.18sINFOobjective_server_nodePath shortcutter: [X__________________________________________________________________________________________________________________________________X] ×2 + 7.24sINFOjoint_trajectory_controllerReceived new action goal ×2 + 7.24sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 7.24sINFOros2_control_nodeReceived new action goal[0m ×4 + 7.24sINFOros2_control_nodeAccepted new action goal[0m ×4 + 7.26sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.395ms + 7.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982024 ms (missed cycles : 3). + 7.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982024 ms (missed cycles : 3).[0m ×2 + 7.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.663ms + 8.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.921ms + 8.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942200 ms (missed cycles : 3). + 8.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.942200 ms (missed cycles : 3).[0m ×2 + 8.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.558ms + 8.65sINFOamclParticle filter update iteration stats: 4807 particles 723 points - 5.496ms + 9.05sINFOamclParticle filter update iteration stats: 3461 particles 723 points - 6.883ms + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991710 ms (missed cycles : 3). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.991710 ms (missed cycles : 3).[0m ×2 + 10.35sINFOamclParticle filter update iteration stats: 2072 particles 723 points - 3.360ms + 10.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858753 ms (missed cycles : 3). + 10.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.858753 ms (missed cycles : 3).[0m ×2 + 10.95sINFOamclParticle filter update iteration stats: 1257 particles 723 points - 2.604ms + 11.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.277ms + 11.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736811 ms (missed cycles : 2). + 11.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.736811 ms (missed cycles : 2).[0m ×2 + 11.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.883ms + 12.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.043ms + 12.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461233 ms (missed cycles : 3). + 12.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.461233 ms (missed cycles : 3).[0m ×2 + 12.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.534ms + 13.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 13.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562020 ms (missed cycles : 3). + 13.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.562020 ms (missed cycles : 3).[0m ×2 + 13.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.983ms + 14.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.968ms + 14.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089110 ms (missed cycles : 2). + 14.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.089110 ms (missed cycles : 2).[0m ×2 + 14.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.492ms + 15.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.275ms + 15.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189730 ms (missed cycles : 2). + 15.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.189730 ms (missed cycles : 2).[0m ×2 + 15.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.038ms + 16.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.365ms + 16.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241785 ms (missed cycles : 4). + 16.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.241785 ms (missed cycles : 4).[0m ×2 + 16.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms ×2 + 17.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.952ms + 17.88sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887760 ms (missed cycles : 3). + 17.88sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.887760 ms (missed cycles : 3).[0m ×2 + 17.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 18.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.000ms + 18.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.912ms + 18.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477313 ms (missed cycles : 3). + 18.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.477313 ms (missed cycles : 3).[0m ×2 + 19.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.917ms ×2 + 20.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334002 ms (missed cycles : 3). + 20.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.334002 ms (missed cycles : 3).[0m ×2 + 20.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.208ms + 20.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.927ms ×2 + 21.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419172 ms (missed cycles : 3). + 21.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.419172 ms (missed cycles : 3).[0m ×2 + 21.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.898ms ×2 + 21.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.265ms + 22.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658609 ms (missed cycles : 3). + 22.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.658609 ms (missed cycles : 3).[0m ×2 + 22.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.909ms + 23.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805502 ms (missed cycles : 3). + 23.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.805502 ms (missed cycles : 3).[0m ×2 + 23.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.911ms + 23.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.260ms + 24.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122307 ms (missed cycles : 3). + 24.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.122307 ms (missed cycles : 3).[0m ×2 + 24.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.128ms + 24.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.906ms + 25.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465339 ms (missed cycles : 3). + 25.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.465339 ms (missed cycles : 3).[0m ×2 + 25.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.949ms + 26.42sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667582 ms (missed cycles : 2). + 26.42sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.667582 ms (missed cycles : 2).[0m ×2 + 26.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms ×2 + 26.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.908ms ×2 + 27.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649133 ms (missed cycles : 3). + 27.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.649133 ms (missed cycles : 3).[0m ×2 + 27.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.929ms + 27.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 28.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.150ms + 28.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129672 ms (missed cycles : 4). + 28.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.129672 ms (missed cycles : 4).[0m ×2 + 28.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.036ms + 29.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.869ms + 29.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994512 ms (missed cycles : 3). + 29.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.994512 ms (missed cycles : 3).[0m ×2 + 29.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.919ms + 30.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.972ms + 30.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625441 ms (missed cycles : 3). + 30.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625441 ms (missed cycles : 3).[0m ×2 + 30.94sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.957ms + 31.45sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.884ms + 31.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688622 ms (missed cycles : 2). + 31.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.688622 ms (missed cycles : 2).[0m ×2 + 31.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.475ms + 32.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.094ms + 32.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870439 ms (missed cycles : 3). + 32.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.870439 ms (missed cycles : 3).[0m ×2 + 33.34sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.145ms + 33.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207916 ms (missed cycles : 2). + 33.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.207916 ms (missed cycles : 2).[0m ×2 + 34.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875557 ms (missed cycles : 2). + 34.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.875557 ms (missed cycles : 2).[0m ×2 + 35.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285420 ms (missed cycles : 4). + 35.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.285420 ms (missed cycles : 4).[0m ×2 + 36.22sINFOobjective_server_nodeGetContourFromPointCloudSlice Info: Hull alpha is not positive, using default value to compute a convex hull. ×3 + 36.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187035 ms (missed cycles : 2). + 36.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.187035 ms (missed cycles : 2).[0m ×2 + 37.02sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 37.02sINFOobjective_server_nodePlanning for 53 path waypoints. ×3 + 38.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979468 ms (missed cycles : 2). + 38.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.979468 ms (missed cycles : 2).[0m ×2 + 38.36sINFOros2_control_nodeMuJoCo sim: 2.40% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 38.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.202ms + 39.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538848 ms (missed cycles : 4). + 39.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.538848 ms (missed cycles : 4).[0m ×2 + 39.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.885ms + 40.04sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.008ms + 40.34sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791983 ms (missed cycles : 3). + 40.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.791983 ms (missed cycles : 3).[0m ×2 + 40.44sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.212ms + 40.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.974ms + 41.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669762 ms (missed cycles : 2). + 41.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.669762 ms (missed cycles : 2).[0m ×2 + 41.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.858ms + 42.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657019 ms (missed cycles : 3). + 42.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.657019 ms (missed cycles : 3).[0m ×2 + 43.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625929 ms (missed cycles : 3). + 43.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.625929 ms (missed cycles : 3).[0m ×2 + 44.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881936 ms (missed cycles : 3). + 44.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.881936 ms (missed cycles : 3).[0m ×2 + 45.25sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.206ms + 45.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008266 ms (missed cycles : 3). + 45.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.008266 ms (missed cycles : 3).[0m ×2 + 46.14sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.022ms + 46.74sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377532 ms (missed cycles : 4). + 46.74sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.377532 ms (missed cycles : 4).[0m ×2 + 46.95sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.337ms + 47.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.173ms + 47.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500949 ms (missed cycles : 5). + 47.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 7.500949 ms (missed cycles : 5).[0m ×2 + 48.75sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.841ms ×2 + 48.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249396 ms (missed cycles : 4). + 48.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.249396 ms (missed cycles : 4).[0m ×2 + 49.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.250ms + 49.96sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009779 ms (missed cycles : 3). + 49.96sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.009779 ms (missed cycles : 3).[0m ×2 + 50.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826793 ms (missed cycles : 2). + 50.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.826793 ms (missed cycles : 2).[0m ×2 + 52.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765814 ms (missed cycles : 3). + 52.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.765814 ms (missed cycles : 3).[0m ×2 + 52.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.849ms + 53.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603752 ms (missed cycles : 4). + 53.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.603752 ms (missed cycles : 4).[0m ×2 + 54.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150191 ms (missed cycles : 2). + 54.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.150191 ms (missed cycles : 2).[0m ×2 + 54.35sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.048ms + 55.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550049 ms (missed cycles : 3). + 55.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.550049 ms (missed cycles : 3).[0m ×2 + 55.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 56.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204551 ms (missed cycles : 2). + 56.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204551 ms (missed cycles : 2).[0m ×2 + 57.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 57.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502190 ms (missed cycles : 4). + 57.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502190 ms (missed cycles : 4).[0m ×2 + 58.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641623 ms (missed cycles : 3). + 58.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641623 ms (missed cycles : 3).[0m ×2 + 58.55sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 59.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568571 ms (missed cycles : 4). + 59.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568571 ms (missed cycles : 4).[0m ×2 + 59.56sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786551906.06973910 seconds ×3 + 59.71sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 10.52) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 59.71sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 10.98) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 59.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.872ms + 60.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.505ms + 60.13sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786551906.64392614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 60.36sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.597ms + 60.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257459 ms (missed cycles : 3). + 60.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257459 ms (missed cycles : 3).[0m ×2 + 60.56sINFOobjective_server_nodeFound path in 0 iterations (6.18e-07 s). ×2 + 60.63sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.601ms + 60.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.892ms + 61.25sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.280ms + 61.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231346 ms (missed cycles : 3). + 61.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231346 ms (missed cycles : 3).[0m ×2 + 61.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.693ms + 61.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 62.15sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.986ms
✓ passed	Cartesian Draw Geometry From File	cartesian_draw_geometry_from_file.xml	43.3s	144 warnings · 142 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×14 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×14 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.97sINFOmove_groupClearing octomap...[0m ×2 + 1.97sINFOmove_groupOctomap cleared.[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.85sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.85sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 4.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 5.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal ×2 + 5.82sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 5.82sINFOros2_control_nodeReceived new action goal[0m ×4 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×4 + 6.79sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529457 ms (missed cycles : 2). + 6.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.529457 ms (missed cycles : 2).[0m ×2 + 7.91sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923776 ms (missed cycles : 3). + 7.91sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.923776 ms (missed cycles : 3).[0m ×2 + 9.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532775 ms (missed cycles : 3). + 9.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.532775 ms (missed cycles : 3).[0m ×2 + 10.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743693 ms (missed cycles : 2). + 10.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.743693 ms (missed cycles : 2).[0m ×2 + 11.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403998 ms (missed cycles : 3). + 11.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.403998 ms (missed cycles : 3).[0m ×2 + 12.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815751 ms (missed cycles : 3). + 12.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.815751 ms (missed cycles : 3).[0m ×2 + 13.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069334 ms (missed cycles : 2). + 13.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.069334 ms (missed cycles : 2).[0m ×2 + 14.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574345 ms (missed cycles : 3). + 14.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.574345 ms (missed cycles : 3).[0m ×2 + 15.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683234 ms (missed cycles : 3). + 15.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.683234 ms (missed cycles : 3).[0m ×2 + 16.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620443 ms (missed cycles : 3). + 16.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.620443 ms (missed cycles : 3).[0m ×2 + 17.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280799 ms (missed cycles : 2). + 17.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.280799 ms (missed cycles : 2).[0m ×2 + 18.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025937 ms (missed cycles : 3). + 18.79sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.025937 ms (missed cycles : 3).[0m ×2 + 19.87sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964428 ms (missed cycles : 2). + 19.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.964428 ms (missed cycles : 2).[0m ×2 + 20.30sINFOamclParticle filter update iteration stats: 1893 particles 723 points - 2.878ms + 21.04sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763573 ms (missed cycles : 3). + 21.04sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.763573 ms (missed cycles : 3).[0m ×2 + 22.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811722 ms (missed cycles : 2). + 22.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.811722 ms (missed cycles : 2).[0m ×2 + 23.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954043 ms (missed cycles : 3). + 23.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.954043 ms (missed cycles : 3).[0m ×2 + 24.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159326 ms (missed cycles : 3). + 24.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.159326 ms (missed cycles : 3).[0m ×2 + 25.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545844 ms (missed cycles : 2). + 25.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.545844 ms (missed cycles : 2).[0m ×2 + 26.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539902 ms (missed cycles : 3). + 26.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.539902 ms (missed cycles : 3).[0m ×2 + 27.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149756 ms (missed cycles : 2). + 27.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.149756 ms (missed cycles : 2).[0m ×2 + 28.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081528 ms (missed cycles : 3). + 28.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.081528 ms (missed cycles : 3).[0m ×2 + 29.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624057 ms (missed cycles : 2). + 29.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.624057 ms (missed cycles : 2).[0m ×2 + 30.53sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630790 ms (missed cycles : 3). + 30.53sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.630790 ms (missed cycles : 3).[0m ×2 + 31.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999486 ms (missed cycles : 2). + 31.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.999486 ms (missed cycles : 2).[0m ×2 + 32.59sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029850 ms (missed cycles : 2). + 32.59sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.029850 ms (missed cycles : 2).[0m ×2 + 33.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524173 ms (missed cycles : 3). + 33.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524173 ms (missed cycles : 3).[0m ×2 + 34.80sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853135 ms (missed cycles : 2). + 34.80sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.853135 ms (missed cycles : 2).[0m ×2 + 35.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909330 ms (missed cycles : 3). + 35.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.909330 ms (missed cycles : 3).[0m ×2 + 36.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210465 ms (missed cycles : 2). + 36.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.210465 ms (missed cycles : 2).[0m ×2 + 37.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483233 ms (missed cycles : 3). + 37.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.483233 ms (missed cycles : 3).[0m ×2 + 38.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361232 ms (missed cycles : 3). + 39.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.361232 ms (missed cycles : 3).[0m ×2 + 40.08sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945782 ms (missed cycles : 3). + 40.08sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.945782 ms (missed cycles : 3).[0m ×2 + 41.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205260 ms (missed cycles : 2). + 41.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.205260 ms (missed cycles : 2).[0m ×2 + 42.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771046 ms (missed cycles : 2). + 42.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.771046 ms (missed cycles : 2).[0m ×2 + 43.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3). + 43.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3).[0m ×2 + 44.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2). + 44.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2).[0m ×2 + 45.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3). + 45.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3).[0m ×2 + 46.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3). + 46.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3).[0m ×2 + 47.19sINFOjoint_trajectory_controllerGoal reached, success! + 47.19sINFOros2_control_nodeGoal reached, success![0m ×2 + 47.23sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551752.08180022 seconds ×3 + 47.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2). + 47.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2).[0m ×2 + 47.79sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551752.64708519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 48.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3). + 48.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3).[0m ×2 + 48.91sINFOobjective_server_nodeFound path in 0 iterations (3.239e-05 s). ×2 + 48.91sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 48.93sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 49.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2). + 49.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2).[0m ×2
✓ passed	Move to Look at Plane	move_to_look_at_plane.xml	31.7s	112 warnings · 114 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2 + 0.42sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.644ms + 1.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288270 ms (missed cycles : 2). + 1.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288270 ms (missed cycles : 2).[0m ×2 + 1.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.654ms + 2.22sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017965 ms (missed cycles : 2). + 2.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017965 ms (missed cycles : 2).[0m ×2 + 2.44sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 2.44sINFOros2_control_nodeGoal reached, success![0m ×4 + 2.44sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786551818.09059453 seconds ×3 + 3.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246704 ms (missed cycles : 3). + 3.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246704 ms (missed cycles : 3).[0m ×2 + 3.46sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.47sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.00sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786551819.64981818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.03sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.03sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.29sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600076 ms (missed cycles : 3). + 4.29sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600076 ms (missed cycles : 3).[0m ×2 + 4.40sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 5.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373416 ms (missed cycles : 3). + 5.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373416 ms (missed cycles : 3).[0m ×2 + 6.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252128 ms (missed cycles : 2). + 6.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.252128 ms (missed cycles : 2).[0m ×2 + 6.69sINFOobjective_server_nodePath shortcutter: [X________________________________________________________________________________________________________________________________________X] ×2 + 6.76sINFOjoint_trajectory_controllerReceived new action goal + 6.76sINFOjoint_trajectory_controllerAccepted new action goal + 6.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 7.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551641 ms (missed cycles : 3). + 7.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.551641 ms (missed cycles : 3).[0m ×2 + 8.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164426 ms (missed cycles : 2). + 8.70sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.164426 ms (missed cycles : 2).[0m ×2 + 8.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.891ms + 9.22sINFOros2_control_nodeMuJoCo sim: 2.29% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 9.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.054ms + 9.70sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039260 ms (missed cycles : 4). + 9.71sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.039260 ms (missed cycles : 4).[0m ×2 + 10.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.296ms + 10.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.372ms + 10.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189064 ms (missed cycles : 3). + 10.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.189064 ms (missed cycles : 3).[0m ×2 + 11.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.272ms + 11.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.537ms + 11.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372815 ms (missed cycles : 3). + 11.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.372815 ms (missed cycles : 3).[0m ×2 + 12.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.280ms + 12.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.328ms + 12.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830299 ms (missed cycles : 2). + 12.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.830299 ms (missed cycles : 2).[0m ×2 + 13.02sINFOamclParticle filter update iteration stats: 3855 particles 723 points - 7.927ms + 13.52sINFOamclParticle filter update iteration stats: 3222 particles 723 points - 4.176ms + 13.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192027 ms (missed cycles : 4). + 13.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.192027 ms (missed cycles : 4).[0m ×2 + 14.01sINFOamclParticle filter update iteration stats: 2711 particles 723 points - 3.583ms + 14.51sINFOamclParticle filter update iteration stats: 2198 particles 723 points - 2.916ms + 14.94sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196771 ms (missed cycles : 2). + 14.94sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.196771 ms (missed cycles : 2).[0m ×2 + 15.01sINFOamclParticle filter update iteration stats: 1576 particles 723 points - 2.126ms + 15.51sINFOamclParticle filter update iteration stats: 1513 particles 723 points - 1.968ms + 15.95sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692100 ms (missed cycles : 2). + 15.95sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.692100 ms (missed cycles : 2).[0m ×2 + 16.01sINFOamclParticle filter update iteration stats: 1289 particles 723 points - 1.656ms + 16.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.622ms + 17.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807857 ms (missed cycles : 3). + 17.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.807857 ms (missed cycles : 3).[0m ×2 + 17.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.111ms + 17.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.459ms + 18.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.014ms + 18.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923297 ms (missed cycles : 2). + 18.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.923297 ms (missed cycles : 2).[0m ×2 + 18.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.980ms + 19.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.009ms + 19.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722487 ms (missed cycles : 2). + 19.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.722487 ms (missed cycles : 2).[0m ×2 + 19.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.986ms ×2 + 20.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.990ms + 20.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500838 ms (missed cycles : 4). + 20.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.500838 ms (missed cycles : 4).[0m ×2 + 20.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.931ms + 21.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.987ms + 21.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084415 ms (missed cycles : 2). + 21.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.084415 ms (missed cycles : 2).[0m ×2 + 21.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.958ms + 22.30sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495646 ms (missed cycles : 3). + 22.30sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.495646 ms (missed cycles : 3).[0m ×2 + 22.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.940ms + 23.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.289ms + 23.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179835 ms (missed cycles : 2). + 23.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.179835 ms (missed cycles : 2).[0m ×2 + 23.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.107ms + 24.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.401ms + 24.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246363 ms (missed cycles : 3). + 24.50sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246363 ms (missed cycles : 3).[0m ×2 + 24.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.035ms + 25.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.353ms + 25.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.956ms + 25.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112113 ms (missed cycles : 3). + 25.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.112113 ms (missed cycles : 3).[0m ×2 + 26.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.960ms + 26.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.047ms + 26.78sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327124 ms (missed cycles : 4). + 26.78sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.327124 ms (missed cycles : 4).[0m ×2 + 27.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.979ms + 27.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.261ms + 27.84sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476466 ms (missed cycles : 4). + 27.84sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.476466 ms (missed cycles : 4).[0m ×2 + 28.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.889ms + 28.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.819ms + 28.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970413 ms (missed cycles : 3). + 28.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.970413 ms (missed cycles : 3).[0m ×2 + 29.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.182ms + 29.52sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.827ms + 29.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063620 ms (missed cycles : 2). + 29.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.063620 ms (missed cycles : 2).[0m ×2 + 30.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.846ms + 30.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.246ms + 30.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2). + 30.87sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2).[0m ×2 + 31.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 31.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 31.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2). + 31.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2).[0m ×2 + 32.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 32.51sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 33.01sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2). + 33.01sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2).[0m ×2 + 33.01sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 33.71sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 34.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3). + 34.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3).[0m ×2 + 35.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2). + 35.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2).[0m ×2 + 35.17sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551850.82005262 seconds ×3 + 35.28sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.28sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 35.32sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.534ms + 35.38sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 7.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.38sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 7.18) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 35.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.494ms + 35.72sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.105ms + 35.74sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551851.38958073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 36.02sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.113ms + 36.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2). + 36.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2).[0m ×2 + 36.15sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 36.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.526ms + 36.62sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.751ms + 36.92sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.781ms + 37.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2). + 37.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2).[0m ×2 + 37.22sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.597ms + 37.52sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 37.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.627ms
✓ passed	Solution - Move Forward 2m	solution_move_forward_2m.xml	13.8s	59 warnings · 137 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877181 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.877181 ms (missed cycles : 3).[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594692 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.594692 ms (missed cycles : 3).[0m ×2 + 2.10sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053848 ms (missed cycles : 4). + 2.10sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.053848 ms (missed cycles : 4).[0m ×2 + 2.97sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.108ms + 3.15sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366642 ms (missed cycles : 4). + 3.16sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.366642 ms (missed cycles : 4).[0m ×2 + 3.84sINFOjoint_trajectory_controllerGoal reached, success! ×3 + 3.84sINFOros2_control_nodeGoal reached, success![0m ×6 + 3.85sINFOobjective_server_nodeObjective `Solution - Generate coverage path` succeeded at time: 1786552052.63669729 seconds ×3 + 3.86sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×6 + 3.87sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×6 + 3.94sWARNlocal_costmap.local_costmapSensor origin at (-1.09, 5.64) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.94sWARNlocal_costmap.local_costmapSensor origin at (-1.99, 5.66) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 3.97sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.308ms + 4.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.444ms + 4.31sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943415 ms (missed cycles : 2). + 4.31sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.943415 ms (missed cycles : 2).[0m ×2 + 4.38sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.183ms + 4.41sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` starting at time: 1786552053.20398569 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.44sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.268ms + 4.82sINFOobjective_server_nodeFound path in 0 iterations (4.25e-07 s). ×2 + 4.85sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 4.86sINFOjoint_trajectory_controllerReceived new action goal ×2 + 4.86sINFOjoint_trajectory_controllerAccepted new action goal ×2 + 4.86sINFOros2_control_nodeReceived new action goal[0m ×4 + 4.86sINFOros2_control_nodeAccepted new action goal[0m ×4 + 4.98sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.722ms + 5.36sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491226 ms (missed cycles : 3). + 5.36sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.491226 ms (missed cycles : 3).[0m ×2 + 5.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.255ms + 6.46sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152802 ms (missed cycles : 3). + 6.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.152802 ms (missed cycles : 3).[0m ×2 + 6.58sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.717ms + 7.62sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462786 ms (missed cycles : 3). + 7.62sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.462786 ms (missed cycles : 3).[0m ×2 + 7.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.908ms + 8.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007545 ms (missed cycles : 3). + 8.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.007545 ms (missed cycles : 3).[0m ×2 + 9.12sINFOobjective_server_nodeFound path in 0 iterations (5.47e-07 s). ×2 + 9.15sINFOobjective_server_nodePath shortcutter: [X__________________X] ×2 + 9.19sINFOobjective_server_nodeFound path in 0 iterations (4.63e-07 s). ×2 + 9.27sINFOobjective_server_nodePath shortcutter: [X_________________________X] ×2 + 9.31sINFOobjective_server_nodeFound path in 0 iterations (3.49e-07 s). ×2 + 9.38sINFOobjective_server_nodePath shortcutter: [X_______________________________X] ×2 + 9.42sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 9.61sINFOobjective_server_nodePath shortcutter: [X____________________________________________X] ×4 + 9.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801366 ms (missed cycles : 3). + 9.63sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.801366 ms (missed cycles : 3).[0m ×2 + 9.66sINFOobjective_server_nodeFound path in 0 iterations (4.95e-07 s). ×2 + 9.90sINFOobjective_server_nodeFound path in 31 iterations (0.0391334 s). ×2 + 10.31sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________X_______X] ×2 + 10.40sINFOobjective_server_nodeFound path in 0 iterations (5.75e-07 s). ×2 + 10.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141962 ms (missed cycles : 3). + 10.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.141962 ms (missed cycles : 3).[0m ×2 + 10.90sINFOobjective_server_nodePath shortcutter: [X_________________________________________________________________X] ×2 + 10.95sINFOobjective_server_nodeFound path in 0 iterations (3.97e-07 s). ×2 + 11.42sINFOobjective_server_nodePath shortcutter: [X_______________________________________________________________X] ×2 + 11.66sINFOobjective_server_nodeDid not detect subscription on topic /failure_reason_collector ×3 + 11.93sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132096 ms (missed cycles : 2). + 11.93sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.132096 ms (missed cycles : 2).[0m ×2 + 12.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420111 ms (missed cycles : 2). + 12.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.420111 ms (missed cycles : 2).[0m ×2 + 13.37sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.807ms + 14.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541354 ms (missed cycles : 3). + 14.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541354 ms (missed cycles : 3).[0m ×2 + 14.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.569ms + 14.68sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 15.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2). + 15.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2).[0m ×2 + 15.27sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 15.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.321ms + 16.09sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 16.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3). + 16.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3).[0m ×2 + 16.76sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.400ms + 17.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2). + 17.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2).[0m ×2 + 17.66sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552066.44869351 seconds ×3 + 17.88sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.056ms + 18.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 18.26sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552067.04714680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 18.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 18.27sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 18.27sINFOmove_groupClearing octomap...[0m ×2 + 18.27sINFOmove_groupOctomap cleared.[0m ×2 + 18.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3). + 18.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3).[0m ×2 + 18.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.563ms + 18.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 18.97sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552067.75727654 seconds ×3 + 19.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms + 19.18sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.227ms + 19.48sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.701ms + 19.52sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552068.30991769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 19.66sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3). + 19.66sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3).[0m ×2 + 19.78sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.960ms + 20.01sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552068.80004358 seconds ×3 + 20.08sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.196ms + 20.25sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2
✓ passed	Take Wrist Camera Snapshot	wrist_snap.xml	11.3s	95 errors · 33 warnings · 401 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 0.56sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2). + 0.56sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2).[0m ×2 + 0.60sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 1.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.321ms + 1.41sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 1.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3). + 1.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3).[0m ×2 + 2.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.400ms + 2.75sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2). + 2.75sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2).[0m ×2 + 2.95sINFOjoint_trajectory_controllerGoal reached, success! + 2.96sINFOros2_control_nodeGoal reached, success![0m ×2 + 2.98sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552066.44869351 seconds ×3 + 3.00sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.01sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.056ms + 3.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 3.58sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552067.04714680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.59sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.60sINFOmove_groupClearing octomap...[0m ×2 + 3.60sINFOmove_groupOctomap cleared.[0m ×2 + 3.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3). + 3.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3).[0m ×2 + 3.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.563ms + 4.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 4.29sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552067.75727654 seconds ×3 + 4.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.227ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.701ms + 4.84sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552068.30991769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.98sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3). + 4.98sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.960ms + 5.34sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552068.80004358 seconds ×3 + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.196ms + 5.57sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.560ms + 6.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917479 ms (missed cycles : 2). + 6.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.281ms + 6.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917479 ms (missed cycles : 2).[0m ×2 + 7.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787993 ms (missed cycles : 3). + 7.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.787993 ms (missed cycles : 3).[0m ×2 + 8.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802578 ms (missed cycles : 3). + 8.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.802578 ms (missed cycles : 3).[0m ×2 + 9.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934116 ms (missed cycles : 2). + 9.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.934116 ms (missed cycles : 2).[0m ×2 + 10.37sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275165 ms (missed cycles : 2). + 10.37sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.275165 ms (missed cycles : 2).[0m ×2 + 11.22sERRORweb_video_auth_proxy-35process[web_video_auth_proxy-35] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORweb_bridge_auth_proxy-34process[web_bridge_auth_proxy-34] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.23sERRORvideo_server-33process[video_server-33] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORtf2_web_republisher_node-32process[tf2_web_republisher_node-32] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.24sERRORweb_bridge-31process[web_bridge-31] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORui_teleop_bridge-30process[ui_teleop_bridge-30] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORexecute_objective_bridge-29process[execute_objective_bridge-29] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.25sERRORcomponent_container_mt-28process[component_container_mt-28] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.26sINFOweb_video_auth_proxy-35sending signal 'SIGTERM' to process[web_video_auth_proxy-35] ×2 + 11.29sERRORcomponent_container_mt-27process[component_container_mt-27] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.29sERRORweb_video_auth_proxy-35process has died [pid 9604, 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 + 11.29sERRORobjective_server_node_main-26process[objective_server_node_main-26] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORmove_end_effector_resampler_node-25process[move_end_effector_resampler_node-25] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sERRORmove_joint_resampler_node-24process[move_joint_resampler_node-24] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.30sINFOweb_bridge_auth_proxy-34sending signal 'SIGTERM' to process[web_bridge_auth_proxy-34] ×2 + 11.33sERRORwaypoint_manager_node-23process[waypoint_manager_node-23] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORweb_bridge_auth_proxy-34process has died [pid 9600, 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 + 11.33sERRORparameter_manager_node-22process[parameter_manager_node-22] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.33sERRORmove_group-21process[move_group-21] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORros2_control_node-9process[ros2_control_node-9] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.34sERRORscan_to_scan_filter_chain-8process[scan_to_scan_filter_chain-8] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORscan_to_scan_filter_chain-7process[scan_to_scan_filter_chain-7] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORforward_stereo_publisher.py-6process[forward_stereo_publisher.py-6] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.35sERRORodom_qos_relay.py-5process[odom_qos_relay.py-5] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORstatic_transform_publisher-4process[static_transform_publisher-4] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.36sERRORstatic_transform_publisher-3process[static_transform_publisher-3] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORcomponent_container_isolated-2process[component_container_isolated-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.37sERRORcomponent_container_isolated-1process[component_container_isolated-1] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM' ×2 + 11.38sINFOvideo_server-33sending signal 'SIGTERM' to process[video_server-33] ×2 + 11.40sINFOtf2_web_republisher_node-32sending signal 'SIGTERM' to process[tf2_web_republisher_node-32] ×2 + 11.43sINFOweb_bridge-31sending signal 'SIGTERM' to process[web_bridge-31] ×2 + 11.46sINFOui_teleop_bridge-30sending signal 'SIGTERM' to process[ui_teleop_bridge-30] ×2 + 11.48sINFOvideo_server-33process has finished cleanly [pid 9599] ×2 + 11.48sINFOexecute_objective_bridge-29sending signal 'SIGTERM' to process[execute_objective_bridge-29] ×2 + 11.51sINFOcomponent_container_mt-28sending signal 'SIGTERM' to process[component_container_mt-28] ×2 + 11.54sINFOcomponent_container_mt-27sending signal 'SIGTERM' to process[component_container_mt-27] ×2 + 11.56sINFOobjective_server_node_main-26sending signal 'SIGTERM' to process[objective_server_node_main-26] ×2 + 11.60sINFOmove_end_effector_resampler_node-25sending signal 'SIGTERM' to process[move_end_effector_resampler_node-25] ×2 + 11.63sINFOmove_joint_resampler_node-24sending signal 'SIGTERM' to process[move_joint_resampler_node-24] ×2 + 11.63sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009645 ms (missed cycles : 4). + 11.67sINFOwaypoint_manager_node-23sending signal 'SIGTERM' to process[waypoint_manager_node-23] ×2 + 11.69sINFOtf2_web_republisher_node-32process has finished cleanly [pid 9598] ×2 + 11.69sINFOlaunchprocess[web_bridge_auth_proxy-34] was required: shutting down launched system ×2 + 11.71sINFOparameter_manager_node-22sending signal 'SIGTERM' to process[parameter_manager_node-22] ×2 + 11.75sINFOmove_group-21sending signal 'SIGTERM' to process[move_group-21] ×2 + 11.77sINFOglobal_costmap.global_costmapMessage Filter dropping message: frame 'lidar_front_ROS' at time 1786552074.935 for reason 'the timestamp on the message is earlier than all the data in the transform cache' + 11.78sINFOros2_control_node-9sending signal 'SIGTERM' to process[ros2_control_node-9] ×2 + 11.78sINFOcontroller_managerShutdown request received.... + 11.78sINFOcontroller_managerShutting down all controllers in the controller manager. + 11.78sINFOcontroller_managerDeactivating controller 'imu_sensor_broadcaster' + 11.78sINFOcontroller_managerShutting down controller 'imu_sensor_broadcaster' + 11.78sINFOcontroller_managerDeactivating controller 'vacuum_gripper' + 11.78sINFOcontroller_managerShutting down controller 'vacuum_gripper' + 11.78sINFOcontroller_managerDeactivating controller 'joint_trajectory_controller' + 11.78sINFOcontroller_managerShutting down controller 'joint_trajectory_controller' + 11.79sINFOcontroller_managerShutting down controller 'velocity_force_controller' + 11.79sINFOcontroller_managerShutting down controller 'joint_velocity_controller' + 11.79sINFOcontroller_managerDeactivating controller 'platform_velocity_controller' + 11.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller' + 11.79sINFOcontroller_managerDeactivating controller 'force_torque_sensor_broadcaster' + 11.79sINFOcontroller_managerShutting down controller 'force_torque_sensor_broadcaster' + 11.79sINFOcontroller_managerShutting down controller 'arm_only_joint_velocity_controller' + 11.79sINFOcontroller_managerShutting down controller 'platform_velocity_controller_nav2' + 11.79sINFOcontroller_managerShutting down controller 'arm_only_velocity_force_controller' + 11.79sINFOcontroller_managerDeactivating controller 'joint_state_broadcaster' + 11.79sINFOcontroller_managerShutting down controller 'joint_state_broadcaster' + 11.79sINFOcontroller_managerShutting down the controller manager. + 11.79sINFOui_teleop_bridge-30process has finished cleanly [pid 9596] ×2 + 11.80sINFOscan_to_scan_filter_chain-8sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-8] ×2 + 11.81sERRORmove_group-21process has died [pid 9560, 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_ut3dwddr --params-file /tmp/launch_params_pv9eth1_ --params-file /tmp/launch_params_ryzcqmip --params-file /tmp/launch_params_ymwfutls --params-file /tmp/launch_params_s294brnr --params-file /tmp/launch_params__u545yrf']. ×2 + 11.81sINFOcomponent_container_mt-28process has finished cleanly [pid 9594] ×2 + 11.83sINFOscan_to_scan_filter_chain-7sending signal 'SIGTERM' to process[scan_to_scan_filter_chain-7] ×2 + 11.85sINFOforward_stereo_publisher.py-6sending signal 'SIGTERM' to process[forward_stereo_publisher.py-6] ×2 + 11.85sINFOexecute_objective_bridge-29process has finished cleanly [pid 9595] ×2 + 11.87sINFOodom_qos_relay.py-5sending signal 'SIGTERM' to process[odom_qos_relay.py-5] ×2 + 11.89sINFOstatic_transform_publisher-4sending signal 'SIGTERM' to process[static_transform_publisher-4] ×2 + 11.91sINFOstatic_transform_publisher-3sending signal 'SIGTERM' to process[static_transform_publisher-3] ×2 + 11.94sINFOcomponent_container_isolated-2sending signal 'SIGTERM' to process[component_container_isolated-2] ×2 + 11.94sINFOmap_serverRunning Nav2 LifecycleNode rcl preshutdown (map_server) + 11.94sINFOmap_serverDeactivating + 11.94sINFOmap_serverDestroying bond (map_server) to lifecycle manager. ×2 + 11.95sINFOmap_serverCleaning up + 11.95sINFOlifecycle_manager_localizationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_localization) + 11.95sINFOlifecycle_manager_localization[34m[1mTerminating bond timer...[0m[0m + 11.96sINFOcomponent_container_isolated-1sending signal 'SIGTERM' to process[component_container_isolated-1] ×2 + 11.96sINFOcontroller_serverRunning Nav2 LifecycleNode rcl preshutdown (controller_server) + 11.96sINFOcontroller_serverDeactivating + 11.96sINFOlocal_costmap.local_costmapDeactivating + 11.96sINFOcontroller_serverDestroying bond (controller_server) to lifecycle manager. ×2 + 11.96sINFOvideo_server2026/08/12 16:27:54 INF shutting down gracefully ×2 + 11.96sINFOtf2_web_republisher_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.96sINFOvideo_server2026/08/12 16:27:54 INF [WebRTC] closing ×2 + 11.96sINFOvideo_server2026/08/12 16:27:54 INF [RTSP] closing ×2 + 11.96sINFOvideo_server2026/08/12 16:27:54 INF waiting for running hooks ×2 + 11.96sINFOweb_bridgesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOcomponent_container_mtsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.97sERRORamclThe bond connection to the lifecycle manager has been broken + 11.97sINFOobjective_server_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOcomponent_container_mtStopping planning scene monitor[0m ×2 + 11.97sINFOmove_end_effector_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sINFOmove_joint_resampler_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.009645 ms (missed cycles : 4).[0m ×2 + 11.97sINFOcontroller_serverCleaning up + 11.97sINFOlaunchprocess[tf2_web_republisher_node-32] was required: shutting down launched system ×2 + 11.97sINFOlocal_costmap.local_costmapCleaning up + 11.97sINFOwaypoint_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sERRORlaunchCaught exception in launch (see debug for traceback): Cannot shutdown a ROS adapter that is not running ×8 + 11.98sINFOparameter_manager_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sINFOmove_groupsignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sERRORmove_groupterminate called after throwing an instance of 'std::runtime_error' ×2 + 11.98sERRORmove_groupwhat(): context cannot be slept with because it's invalid ×2 + 11.98sERRORmove_groupStack trace (most recent call last) in thread 10127: ×2 + 11.98sINFOmove_group#14 Object "/usr/lib/x86_64-linux-gnu/ld-linux-x86-64.so.2", at 0xffffffffffffffff, in ×2 + 11.98sINFOmove_group#13 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa421dea63, in __clone ×2 + 11.98sINFOmove_group#12 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa42151aa3, in ×2 + 11.98sINFOmove_group#11 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa423e3db3, in ×2 + 11.98sINFOmove_group#10 Object "/opt/overlay_ws/install/moveit_pro_planning_scene_monitor/lib/libplanning_scene_monitor.so.10.0.0", at 0x7faa42b54637, in moveit_pro::planning_scene_monitor::PlanningSceneMonitor::scenePublishingThread() ×2 + 11.98sINFOmove_group#9 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa42775620, in rclcpp::Rate::sleep() ×2 + 11.98sINFOmove_group#8 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa426b7d18, in rclcpp::Clock::sleep_for(rclcpp::Duration, std::shared_ptr<rclcpp::Context>) ×2 + 11.98sINFOmove_group#7 Object "/opt/ros/jazzy/lib/librclcpp.so", at 0x7faa42679087, in ×2 + 11.98sINFOmove_group#6 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa423b2390, in __cxa_throw ×2 + 11.98sINFOmove_group#5 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa4239ca54, in std::terminate() ×2 + 11.98sINFOmove_group#4 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa423b20d9, in ×2 + 11.98sINFOmove_group#3 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.33", at 0x7faa4239cff4, in ×2 + 11.98sINFOmove_group#2 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa420dd8fe, in abort ×2 + 11.98sINFOmove_group#1 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa420fa27d, in raise ×2 + 11.98sINFOmove_group#0 Object "/usr/lib/x86_64-linux-gnu/libc.so.6", at 0x7faa42153b2c, in pthread_kill ×2 + 11.98sERRORmove_groupAborted (Signal sent by tkill() 9560 0) ×2 + 11.98sINFOros2_control_nodesignal_handler(SIGINT/SIGTERM)[0m ×2 + 11.98sINFOros2_control_nodeShutdown request received....[0m ×2 + 11.98sINFOros2_control_nodeShutting down all controllers in the controller manager.[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'imu_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'imu_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'vacuum_gripper'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'vacuum_gripper'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'joint_trajectory_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'joint_trajectory_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'velocity_force_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'joint_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'platform_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'force_torque_sensor_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'arm_only_joint_velocity_controller'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'platform_velocity_controller_nav2'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'arm_only_velocity_force_controller'[0m ×2 + 11.98sINFOros2_control_nodeDeactivating controller 'joint_state_broadcaster'[0m ×2 + 11.98sINFOros2_control_nodeShutting down controller 'joint_state_broadcaster'[0m ×2 + 11.98sINFOros2_control_node'deactivate' hardware 'ur_mujoco_control' [0m ×2 + 11.98sINFOros2_control_nodeSuccessful 'deactivate' of hardware 'ur_mujoco_control'[0m ×2 + 11.98sINFOros2_control_node'shutdown' hardware 'ur_mujoco_control' [0m ×2 + 11.98sINFOros2_control_nodeSuccessful 'shutdown' of hardware 'ur_mujoco_control'[0m ×2 + 11.98sINFOros2_control_nodeShutting down the controller manager.[0m ×2 + 11.98sERRORros2_control_nodeException in publisher thread: context cannot be slept with because it's invalid!. Aborting![0m ×4 + 11.99sINFOscan_to_scan_filter_chainsignal_handler(SIGINT/SIGTERM)[0m ×4 + 11.99sERRORodom_qos_relay.pyTraceback (most recent call last): ×2 + 11.99sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 111, in <module> ×2 + 11.99sINFOodom_qos_relay.pymain() ×2 + 11.99sINFOodom_qos_relay.pyFile "/__w/moveit_pro_example_ws/moveit_pro_example_ws/install/hangar_sim/lib/hangar_sim/odom_qos_relay.py", line 105, in main ×2 + 11.99sINFOodom_qos_relay.pyrclpy.spin(node) ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/__init__.py", line 247, in spin ×2 + 11.99sINFOodom_qos_relay.pyexecutor.spin_once() ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 926, in spin_once ×2 + 11.99sINFOodom_qos_relay.pyself._spin_once_impl(timeout_sec) ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 907, in _spin_once_impl ×2 + 11.99sINFOodom_qos_relay.pyhandler, entity, node = self.wait_for_ready_callbacks( ×2 + 11.99sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 877, in wait_for_ready_callbacks ×2 + 11.99sINFOodom_qos_relay.pyreturn next(self._cb_iter) ×2 + 11.99sINFOodom_qos_relay.py^^^^^^^^^^^^^^^^^^^ ×2 + 11.99sINFOodom_qos_relay.pyFile "/opt/ros/jazzy/lib/python3.12/site-packages/rclpy/executors.py", line 785, in _wait_for_ready_callbacks ×2 + 11.99sINFOodom_qos_relay.pyraise ExternalShutdownException() ×2 + 11.99sINFOodom_qos_relay.pyrclpy.executors.ExternalShutdownException ×2 + 11.99sINFOstatic_transform_publishersignal_handler(SIGINT/SIGTERM)[0m ×4 + 12.00sINFOros2_control_nodeAsync messages lost 0[0m ×4 + 12.00sINFOros2_control_nodepublish_async_failures_ 3[0m ×2 + 12.00sINFOros2_control_nodepublish_async_failures_ 0[0m ×2 + 12.01sINFOsmoother_serverRunning Nav2 LifecycleNode rcl preshutdown (smoother_server) + 12.01sINFOsmoother_serverDeactivating + 12.02sINFOsmoother_serverDestroying bond (smoother_server) to lifecycle manager. ×2 + 12.03sINFOsmoother_serverCleaning up + 12.04sINFOlifecycle_manager_navigation[34m[1mHave not received a heartbeat from controller_server.[0m[0m + 12.04sERRORlifecycle_manager_navigationCRITICAL FAILURE: SERVER controller_server IS DOWN after not receiving a heartbeat for 4000 ms. Shutting down related nodes. + 12.04sINFOlifecycle_manager_navigation[34m[1mTerminating bond timer...[0m[0m + 12.04sINFOlifecycle_manager_navigation[34m[1mResetting managed nodes...[0m[0m + 12.04sINFOlifecycle_manager_navigation[34m[1mDeactivating velocity_smoother[0m[0m + 12.04sINFOvelocity_smootherDeactivating + 12.04sINFOvelocity_smootherDestroying bond (velocity_smoother) to lifecycle manager. ×2 + 12.04sINFOplanner_serverRunning Nav2 LifecycleNode rcl preshutdown (planner_server) + 12.04sINFOplanner_serverDeactivating + 12.04sINFOglobal_costmap.global_costmapDeactivating + 12.16sINFOlifecycle_manager_navigation[34m[1mDeactivating waypoint_follower[0m[0m + 12.16sINFOwaypoint_followerDeactivating + 12.16sINFOwaypoint_followerDestroying bond (waypoint_follower) to lifecycle manager. ×2 + 12.16sERRORcomponent_container_isolated-2process has died [pid 9473, 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_zvej9_m6 --params-file /tmp/launch_params_xctuachv -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 bt_navigator[0m[0m + 12.28sINFObt_navigatorDeactivating + 12.28sINFObt_navigatorDestroying bond (bt_navigator) to lifecycle manager. ×2 + 12.38sINFOplanner_serverDeactivating plugin GridBased of type NavfnPlanner + 12.38sINFOplanner_serverDestroying bond (planner_server) to lifecycle manager. ×2 + 12.39sINFOlifecycle_manager_navigation[34m[1mDeactivating behavior_server[0m[0m + 12.39sINFObehavior_serverDeactivating + 12.39sINFObehavior_serverDestroying bond (behavior_server) to lifecycle manager. ×2 + 12.39sINFOplanner_serverCleaning up + 12.41sINFOglobal_costmap.global_costmapCleaning up + 12.42sINFOplanner_serverCleaning up plugin GridBased of type NavfnPlanner + 12.42sINFOplanner_serverDestroying plugin GridBased of type NavfnPlanner + 12.45sINFObehavior_serverRunning Nav2 LifecycleNode rcl preshutdown (behavior_server) + 12.45sINFObt_navigatorRunning Nav2 LifecycleNode rcl preshutdown (bt_navigator) + 12.45sINFObt_navigatorCleaning up + 12.50sINFOlifecycle_manager_navigation[34m[1mDeactivating planner_server[0m[0m + 12.50sERRORplanner_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sERRORlifecycle_manager_navigationFailed to change state for node: planner_server + 12.50sINFOlifecycle_manager_navigation[34m[1mDeactivating smoother_server[0m[0m + 12.50sERRORsmoother_serverUnable to start transition 4 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.50sERRORlifecycle_manager_navigationFailed to change state for node: smoother_server + 12.50sINFOlifecycle_manager_navigation[34m[1mDeactivating controller_server[0m[0m + 12.51sERRORcontroller_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: controller_server + 12.51sINFOlifecycle_manager_navigation[34m[1mCleaning up velocity_smoother[0m[0m + 12.51sINFOvelocity_smootherCleaning up + 12.51sINFOlifecycle_manager_navigation[34m[1mCleaning up waypoint_follower[0m[0m + 12.51sINFOwaypoint_followerCleaning up + 12.54sINFOlifecycle_manager_navigation[34m[1mCleaning up bt_navigator[0m[0m + 12.56sERRORbt_navigatorUnable to start transition 2 from current state cleaningup: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.56sERRORlifecycle_manager_navigationFailed to change state for node: bt_navigator + 12.56sINFOlifecycle_manager_navigation[34m[1mCleaning up behavior_server[0m[0m + 12.56sINFObehavior_serverCleaning up + 12.61sINFObt_navigatorCompleted Cleaning up + 12.61sINFOwaypoint_followerRunning Nav2 LifecycleNode rcl preshutdown (waypoint_follower) + 12.61sINFOvelocity_smootherRunning Nav2 LifecycleNode rcl preshutdown (velocity_smoother) + 12.61sINFOlifecycle_manager_navigationRunning Nav2 LifecycleManager rcl preshutdown (lifecycle_manager_navigation) + 12.62sINFOlifecycle_manager_navigation[34m[1mCleaning up planner_server[0m[0m + 12.62sERRORplanner_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.62sINFOlifecycle_manager_navigation[34m[1mCleaning up smoother_server[0m[0m + 12.62sERRORsmoother_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.62sINFOlifecycle_manager_navigation[34m[1mCleaning up controller_server[0m[0m + 12.62sERRORcontroller_serverUnable to start transition 2 from current state unconfigured: Transition is not registered., at ./src/rcl_lifecycle.c:355 + 12.62sINFOlifecycle_manager_navigation[34m[1mManaged nodes have been reset[0m[0m + 12.65sINFOmove_end_effector_resampler_node-25process has finished cleanly [pid 9591] ×2 + 12.68sINFOmove_joint_resampler_node-24process has finished cleanly [pid 9590] ×2 + 12.75sINFOcomponent_container_mt-27process has finished cleanly [pid 9593] ×2 + 12.75sINFOobjective_server_node[2026-08-12 16:27:56.214] [moveit_pro_license] [critical] ×2 + 12.75sINFOobjective_server_node************************************************* ×4 + 12.75sINFOobjective_server_node* MoveIt Pro License ×2 + 12.75sINFOobjective_server_node* ERROR Deactivating floating license! Failed Deactivation: Unknown exception setting license: 59 ×2 + 12.75sINFOwaypoint_manager_node-23process has finished cleanly [pid 9564] ×2 + 12.78sINFOparameter_manager_node-22process has finished cleanly [pid 9563] ×2 + 12.81sINFOobjective_server_node_main-26process has finished cleanly [pid 9592] ×2 + 12.81sINFOlaunchprocess[objective_server_node_main-26] was required: shutting down launched system ×2 + 12.85sINFOscan_to_scan_filter_chain-8process has finished cleanly [pid 9479] ×2 + 12.87sINFOscan_to_scan_filter_chain-7process has finished cleanly [pid 9478] ×2 + 12.93sINFOstatic_transform_publisher-4process has finished cleanly [pid 9475] ×2 + 12.94sERRORcomponent_container_isolated-1process has died [pid 9472, 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_zvej9_m6 --params-file /tmp/launch_params_mhbqqg_o -r /tf:=tf -r /tf_static:=tf_static -r /cmd_vel:=/platform_velocity_controller_nav2/cmd_vel_unstamped']. ×2 + 12.95sINFOstatic_transform_publisher-3process has finished cleanly [pid 9474] ×2 + 12.96sINFOforward_stereo_publisher.py-6process has finished cleanly [pid 9477] ×2 + 12.98sERRORodom_qos_relay.py-5process has died [pid 9476, 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 + 14.50sINFOweb_bridge-31process has finished cleanly [pid 9597] ×2 + 14.50sINFOlaunchprocess[web_bridge-31] was required: shutting down launched system ×2 + 14.52sINFOros2_control_node-9process has finished cleanly [pid 9480] ×2
✓ passed	Plan Path Along Surface - Loop	plan_path_along_surface_-_loop.xml	10.7s	3 errors · 50 warnings · 91 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.828ms + 0.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204551 ms (missed cycles : 2). + 0.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.204551 ms (missed cycles : 2).[0m ×2 + 1.60sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.920ms + 1.81sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502190 ms (missed cycles : 4). + 1.81sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.502190 ms (missed cycles : 4).[0m ×2 + 2.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641623 ms (missed cycles : 3). + 2.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.641623 ms (missed cycles : 3).[0m ×2 + 3.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.361ms + 3.85sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568571 ms (missed cycles : 4). + 3.85sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.568571 ms (missed cycles : 4).[0m ×2 + 4.00sINFOjoint_trajectory_controllerGoal reached, success! + 4.00sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.01sINFOobjective_server_nodeObjective `Plan Path Along Surface` succeeded at time: 1786551906.06973910 seconds ×3 + 4.03sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.03sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-1.80, 10.52) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.17sWARNlocal_costmap.local_costmapSensor origin at (-2.57, 10.98) is out of map bounds (-2.55, -2.35) to (2.43, 2.63). The costmap cannot raytrace for it. + 4.20sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 3.872ms + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.505ms + 4.59sINFOobjective_server_nodeObjective `Plan Path Along Surface - Loop` starting at time: 1786551906.64392614 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.62sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.62sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.82sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.597ms + 4.89sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257459 ms (missed cycles : 3). + 4.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.257459 ms (missed cycles : 3).[0m ×2 + 5.02sINFOobjective_server_nodeFound path in 0 iterations (6.18e-07 s). ×2 + 5.09sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.601ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.892ms + 5.71sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.280ms + 5.90sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231346 ms (missed cycles : 3). + 5.90sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.231346 ms (missed cycles : 3).[0m ×2 + 6.01sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.693ms + 6.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.346ms + 6.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.986ms + 6.82sINFOobjective_server_nodePath shortcutter: [X____________________________________________________________________________________________________________________________________X] ×2 + 6.87sINFOjoint_trajectory_controllerReceived new action goal + 6.87sINFOjoint_trajectory_controllerAccepted new action goal + 6.87sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.87sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.309ms + 6.97sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205052 ms (missed cycles : 4). + 6.97sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.205052 ms (missed cycles : 4).[0m ×2 + 7.31sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.638ms + 7.61sINFOamclParticle filter update iteration stats: 4663 particles 723 points - 8.068ms + 7.90sINFOamclParticle filter update iteration stats: 3980 particles 723 points - 5.464ms + 8.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385263 ms (missed cycles : 2). + 8.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.385263 ms (missed cycles : 2).[0m ×2 + 8.21sINFOamclParticle filter update iteration stats: 2888 particles 723 points - 6.023ms + 8.60sINFOamclParticle filter update iteration stats: 2271 particles 723 points - 4.675ms + 9.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116782 ms (missed cycles : 2). + 9.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.116782 ms (missed cycles : 2).[0m ×2 + 9.90sINFOamclParticle filter update iteration stats: 1777 particles 723 points - 2.430ms + 10.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584728 ms (missed cycles : 3). + 10.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.584728 ms (missed cycles : 3).[0m ×2 + 10.51sINFOamclParticle filter update iteration stats: 1438 particles 723 points - 2.683ms + 11.00sINFOamclParticle filter update iteration stats: 1097 particles 723 points - 1.545ms + 11.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455728 ms (missed cycles : 3). + 11.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.455728 ms (missed cycles : 3).[0m ×2 + 11.50sINFOamclParticle filter update iteration stats: 1065 particles 723 points - 1.329ms + 12.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.667ms + 12.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160217 ms (missed cycles : 2). + 12.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.160217 ms (missed cycles : 2).[0m ×2 + 12.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.172ms + 13.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.134ms + 13.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705873 ms (missed cycles : 3). + 13.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.705873 ms (missed cycles : 3).[0m ×2 + 13.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.097ms + 14.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.087ms + 14.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798340 ms (missed cycles : 4). + 14.35sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.798340 ms (missed cycles : 4).[0m ×2 + 14.50sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.103ms + 14.64sINFOobjective_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 + 14.65sINFOjoint_trajectory_controllerGot request to cancel goal + 14.65sINFOjoint_trajectory_controllerCanceling active action goal because cancel callback received. + 14.65sINFOros2_control_nodeGot request to cancel goal[0m ×2 + 14.65sINFOros2_control_nodeCanceling active action goal because cancel callback received.[0m ×2 + 14.67sERRORobjective_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: 1786551916.72872376 seconds ×3 + 14.80sINFOamclParticle filter update iteration stats: 4052 particles 723 points - 2.874ms + 14.91sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 6.841ms + 15.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.717ms + 15.24sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` starting at time: 1786551917.29245496 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 15.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082813 ms (missed cycles : 3). + 15.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.082813 ms (missed cycles : 3).[0m ×2 + 15.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.372ms + 15.62sINFOobjective_server_nodeFound path in 0 iterations (4.15e-07 s). ×2 + 15.81sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.410ms + 16.11sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.611ms + 16.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.262ms + 16.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814122 ms (missed cycles : 3). + 16.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.814122 ms (missed cycles : 3).[0m ×2 + 16.70sINFOamclParticle filter update iteration stats: 4249 particles 723 points - 6.256ms + 17.00sINFOamclParticle filter update iteration stats: 2794 particles 723 points - 4.347ms + 17.30sINFOamclParticle filter update iteration stats: 1534 particles 723 points - 2.355ms
✓ passed	Move to Arm Upright	move_to_arm_upright.xml	5.7s	36 warnings · 57 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.14sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2 + 6.85sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.644ms + 7.61sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288270 ms (missed cycles : 2). + 7.61sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.288270 ms (missed cycles : 2).[0m ×2 + 7.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.654ms + 8.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017965 ms (missed cycles : 2). + 8.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.017965 ms (missed cycles : 2).[0m ×2 + 8.87sINFOobjective_server_nodeObjective `Move to Arm Upright` succeeded at time: 1786551818.09059453 seconds ×3 + 9.69sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246704 ms (missed cycles : 3). + 9.69sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.246704 ms (missed cycles : 3).[0m ×2 + 10.43sINFOobjective_server_nodeObjective `Move to Look at Plane` starting at time: 1786551819.64981818 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 10.71sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600076 ms (missed cycles : 3). + 10.72sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.600076 ms (missed cycles : 3).[0m ×2 + 10.82sINFOobjective_server_nodeFound path in 0 iterations (3.14e-07 s). ×2 + 11.82sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373416 ms (missed cycles : 3). + 11.82sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.373416 ms (missed cycles : 3).[0m ×2
✓ passed	Point-to-Point Trajectory	point-to-point_trajectory.xml	4.9s	35 warnings · 56 info
+ 0.00sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.922ms ×2 + 0.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365500 ms (missed cycles : 3). + 0.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.365500 ms (missed cycles : 3).[0m ×2 + 1.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167278 ms (missed cycles : 4). + 1.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.167278 ms (missed cycles : 4).[0m ×2 + 1.40sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.229ms + 2.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995384 ms (missed cycles : 5). + 2.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.995384 ms (missed cycles : 5).[0m ×2 + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765185 ms (missed cycles : 4). + 3.22sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.765185 ms (missed cycles : 4).[0m ×2 + 3.40sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 3.40sINFOros2_control_nodeGoal reached, success![0m ×4 + 3.42sINFOobjective_server_nodeObjective `Plan Path Along Surface 3 Passes` succeeded at time: 1786551990.57265186 seconds ×3 + 3.43sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 3.44sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 3.47sWARNlocal_costmap.local_costmapSensor origin at (-2.32, 13.63) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.47sWARNlocal_costmap.local_costmapSensor origin at (-3.14, 13.25) is out of map bounds (-2.55, -2.45) to (2.43, 2.53). The costmap cannot raytrace for it. + 3.61sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.152ms + 3.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.881ms + 3.98sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` starting at time: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.07sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 4.07sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 4.21sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 4.44sINFOjoint_trajectory_controllerReceived new action goal + 4.44sINFOjoint_trajectory_controllerAccepted new action goal + 4.44sINFOros2_control_nodeReceived new action goal[0m ×2 + 4.44sINFOros2_control_nodeAccepted new action goal[0m ×2 + 4.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 5.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 5.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 5.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 6.41sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 6.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 6.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 7.48sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 7.48sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 7.51sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 8.30sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 8.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 8.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 8.86sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 9.26sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 9.55sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 9.55sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 10.58sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 10.58sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[0m ×2
✓ passed	Compute IK, Plan and Move	compute_ik_plan_and_move.xml	3.8s	30 warnings · 50 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 4.01sINFOros2_control_nodeGoal reached, success![0m ×4 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551752.08180022 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 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551752.64708519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (3.239e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2).[0m ×2 + 7.41sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983105 ms (missed cycles : 4). + 7.41sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983105 ms (missed cycles : 4).[0m ×2 + 7.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786551755.89722490 seconds ×3 + 8.43sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786551756.45920300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 8.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724895 ms (missed cycles : 2). + 8.45sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724895 ms (missed cycles : 2).[0m ×2 + 8.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 9.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735053 ms (missed cycles : 3). + 9.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735053 ms (missed cycles : 3).[0m ×2
✓ passed	Take Scene Camera Snapshot	take_snap.xml	1.3s	21 warnings · 51 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.807ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541354 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541354 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.569ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.321ms + 2.71sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.400ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552066.44869351 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.056ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552067.04714680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.90sINFOmove_groupClearing octomap...[0m ×2 + 4.90sINFOmove_groupOctomap cleared.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.563ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 5.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552067.75727654 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.227ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.701ms + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552068.30991769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.960ms + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552068.80004358 seconds ×3 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.196ms + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×2 + 7.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.560ms + 7.35sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917479 ms (missed cycles : 2). + 7.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.281ms + 7.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.917479 ms (missed cycles : 2).[0m ×2
− skipped	Calibrate SAM3 Mask Areas	calibrate_sam3_mask_areas.xml	0.0s	21 warnings · 112 info
+ 0.00sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 0.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 0.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 1.42sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 1.43sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 1.45sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 1.46sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 1.96sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 1.97sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 1.97sINFOmove_groupClearing octomap...[0m ×2 + 1.97sINFOmove_groupOctomap cleared.[0m ×2 + 1.97sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 2.51sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 2.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 2.54sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.55sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.10sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.25sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 3.52sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 3.52sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 3.84sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.85sINFOobjective_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 + 3.85sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.85sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 3.85sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.85sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.85sINFOcontroller_managerSuccessfully switched controllers! ×3 + 3.85sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 3.85sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.85sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 3.87sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 3.87sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 3.88sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.88sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 3.88sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 3.89sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 4.44sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.46sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.46sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 4.46sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 4.46sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 4.46sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 4.46sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 4.46sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 4.65sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 4.65sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 5.51sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 5.51sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 5.76sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 5.76sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 5.82sINFOjoint_trajectory_controllerReceived new action goal + 5.82sINFOjoint_trajectory_controllerAccepted new action goal + 5.82sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.82sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	Cartesian Path with Collision Checking	cartesian_path_with_collision_checking.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551752.08180022 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551752.64708519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (3.239e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2).[0m ×2
− skipped	Cartesian Plan Simple Square	cartesian_plan_simple_square.xml	0.0s	21 warnings · 29 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413135 ms (missed cycles : 3).[0m ×2 + 1.03sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2). + 1.03sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.295892 ms (missed cycles : 2).[0m ×2 + 2.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3). + 2.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.432054 ms (missed cycles : 3).[0m ×2 + 3.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3). + 3.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.888612 ms (missed cycles : 3).[0m ×2 + 4.01sINFOjoint_trajectory_controllerGoal reached, success! + 4.01sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.05sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551752.08180022 seconds ×3 + 4.06sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.07sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2).[0m ×2 + 4.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551752.64708519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3). + 5.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3).[0m ×2 + 5.73sINFOobjective_server_nodeFound path in 0 iterations (3.239e-05 s). ×2 + 5.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 5.75sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.75sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.76sINFOjoint_trajectory_controllerReceived new action goal + 5.76sINFOjoint_trajectory_controllerAccepted new action goal + 5.76sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.76sINFOros2_control_nodeAccepted new action goal[0m ×2 + 6.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2). + 6.34sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2).[0m ×2
− skipped	Find and Spray Plane	find_and_spray_plane.xml	0.0s	18 warnings · 50 info
+ 0.00sINFOjoint_trajectory_controllerGoal reached, success! ×2 + 0.00sINFOros2_control_nodeGoal reached, success![0m ×4 + 0.04sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` succeeded at time: 1786551752.08180022 seconds ×3 + 0.05sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 0.06sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 0.17sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2). + 0.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.386383 ms (missed cycles : 2).[0m ×2 + 0.61sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` starting at time: 1786551752.64708519 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 1.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3). + 1.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.420942 ms (missed cycles : 3).[0m ×2 + 1.72sINFOobjective_server_nodeFound path in 0 iterations (3.239e-05 s). ×2 + 1.73sINFOobjective_server_nodePath shortcutter: [X____X] ×2 + 1.74sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 1.74sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 1.75sINFOjoint_trajectory_controllerReceived new action goal + 1.75sINFOjoint_trajectory_controllerAccepted new action goal + 1.75sINFOros2_control_nodeReceived new action goal[0m ×2 + 1.75sINFOros2_control_nodeAccepted new action goal[0m ×2 + 2.33sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2). + 2.33sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.058522 ms (missed cycles : 2).[0m ×2 + 3.40sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983105 ms (missed cycles : 4). + 3.40sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 5.983105 ms (missed cycles : 4).[0m ×2 + 3.86sINFOobjective_server_nodeObjective `Compute IK, Plan and Move` succeeded at time: 1786551755.89722490 seconds ×3 + 4.42sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` starting at time: 1786551756.45920300 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724895 ms (missed cycles : 2). + 4.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.724895 ms (missed cycles : 2).[0m ×2 + 4.81sINFOobjective_server_nodeFound path in 0 iterations (3.2e-07 s). ×2 + 5.49sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735053 ms (missed cycles : 3). + 5.49sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.735053 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	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2
− skipped	Move to Pose No Preview	move_to_pose_no_preview.xml	0.0s	25 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551850.82005262 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.534ms + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 7.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 7.18) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.494ms + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.105ms + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551851.38958073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.113ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.526ms + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.751ms + 6.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.781ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2).[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.597ms + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 6.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.627ms
− skipped	Navigate to Clicked Point	navigate_to_clicked_point.xml	0.0s	25 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551850.82005262 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.534ms + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 7.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 7.18) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.494ms + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.105ms + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551851.38958073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.113ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.526ms + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.751ms + 6.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.781ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2).[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.597ms + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 6.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.627ms
− skipped	Navigate to Clicked Point with Replanning	navigate_to_clicked_point_with_replanning.xml	0.0s	25 warnings · 37 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.709524 ms (missed cycles : 2).[0m ×2 + 0.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.537ms + 0.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.901ms + 1.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2). + 1.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.212203 ms (missed cycles : 2).[0m ×2 + 1.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.264ms + 1.65sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.988ms + 2.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2). + 2.15sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.443291 ms (missed cycles : 2).[0m ×2 + 2.15sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 1.334ms + 2.85sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.970ms + 3.21sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3). + 3.21sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.039040 ms (missed cycles : 3).[0m ×2 + 4.23sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2). + 4.23sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.822211 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.31sINFOobjective_server_nodeObjective `Move to Look at Plane` succeeded at time: 1786551850.82005262 seconds ×3 + 4.33sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.34sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-3.66, 12.88) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.41sWARNlocal_costmap.local_costmapSensor origin at (-4.56, 12.86) is out of map bounds (-2.60, -2.45) to (2.38, 2.53). The costmap cannot raytrace for it. + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 5.534ms + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-1.87, 7.19) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.51sWARNlocal_costmap.local_costmapSensor origin at (-2.77, 7.18) is out of map bounds (-2.55, -2.40) to (2.43, 2.58). The costmap cannot raytrace for it. + 4.55sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.494ms + 4.86sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.105ms + 4.88sINFOobjective_server_nodeObjective `Plan Path Along Surface` starting at time: 1786551851.38958073 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.90sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.90sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.16sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.113ms + 5.24sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2). + 5.24sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.799621 ms (missed cycles : 2).[0m ×2 + 5.28sINFOobjective_server_nodeFound path in 0 iterations (3.28e-07 s). ×2 + 5.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.526ms + 5.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.751ms + 6.06sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.781ms + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.699707 ms (missed cycles : 2).[0m ×2 + 6.35sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.597ms + 6.66sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.242ms + 6.95sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.627ms
− 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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[0m ×2
− skipped	Request Teleoperation	request_teleoperation.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− skipped	Solution - Spray Plane	solution_spray_plane.xml	0.0s	18 warnings · 49 info
+ 0.00sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.807ms + 0.64sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541354 ms (missed cycles : 3). + 0.64sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.541354 ms (missed cycles : 3).[0m ×2 + 0.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.569ms + 1.30sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.613ms + 1.86sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2). + 1.86sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.047701 ms (missed cycles : 2).[0m ×2 + 1.90sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.624ms + 2.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.321ms + 2.71sINFOros2_control_nodeMuJoCo sim: 3.89% of iterations over time budget. Consistently above 1% means the model timestep should be raised.[0m ×2 + 2.99sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3). + 2.99sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.524776 ms (missed cycles : 3).[0m ×2 + 3.39sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.400ms + 4.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2). + 4.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.679870 ms (missed cycles : 2).[0m ×2 + 4.26sINFOjoint_trajectory_controllerGoal reached, success! + 4.26sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.28sINFOobjective_server_nodeObjective `Solution - Move Forward 2m` succeeded at time: 1786552066.44869351 seconds ×3 + 4.30sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×4 + 4.31sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×4 + 4.50sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.056ms + 4.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.726ms + 4.88sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` starting at time: 1786552067.04714680 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.89sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.90sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.90sINFOmove_groupClearing octomap...[0m ×2 + 4.90sINFOmove_groupOctomap cleared.[0m ×2 + 5.06sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3). + 5.06sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.641203 ms (missed cycles : 3).[0m ×2 + 5.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.563ms + 5.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.110ms + 5.59sINFOobjective_server_nodeObjective `Take Scene Camera Snapshot` succeeded at time: 1786552067.75727654 seconds ×3 + 5.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.176ms + 5.80sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.227ms + 6.10sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.701ms + 6.15sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` starting at time: 1786552068.30991769 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3). + 6.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.872958 ms (missed cycles : 3).[0m ×2 + 6.40sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 7.960ms + 6.64sINFOobjective_server_nodeObjective `Take Wrist Camera Snapshot` succeeded at time: 1786552068.80004358 seconds ×3 + 6.70sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.196ms + 6.87sWARNINGlaunchuser interrupted with ctrl-c (SIGINT) ×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 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− skipped	Get Point Cloud Center Pose	get_point_cloud_center_pose.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2
− skipped	ML Move Boxes to Loading Zone	ml_move_boxes_to_loading_zone.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2
− skipped	Move Boxes Looping	move_boxes_looping.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2
− skipped	Move to a StampedPose	move_to_a_stampedpose.xml	0.0s	21 warnings · 34 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.074111 ms (missed cycles : 2).[0m ×2 + 1.09sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3). + 1.09sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.354737 ms (missed cycles : 3).[0m ×2 + 2.11sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2). + 2.11sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.749112 ms (missed cycles : 2).[0m ×2 + 3.16sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4). + 3.17sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 6.015765 ms (missed cycles : 4).[0m ×2 + 3.24sINFOamclParticle filter update iteration stats: 1000 particles 723 points - 0.874ms + 4.14sINFOjoint_trajectory_controllerGoal reached, success! + 4.14sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.17sINFOobjective_server_nodeObjective `Generate Grid Pattern on Airplane` succeeded at time: 1786551813.38933158 seconds ×3 + 4.19sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.20sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.28sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3). + 4.28sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.440567 ms (missed cycles : 3).[0m ×2 + 4.34sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 4.065ms + 4.45sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.419ms + 4.74sINFOobjective_server_nodeObjective `Move to Arm Upright` starting at time: 1786551813.96045184 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.75sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 12.608ms + 4.79sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 4.79sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×3 + 5.05sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.773ms + 5.12sINFOobjective_server_nodeFound path in 0 iterations (3.52e-07 s). ×2 + 5.15sINFOobjective_server_nodePath shortcutter: [X___________________X] ×2 + 5.17sINFOjoint_trajectory_controllerReceived new action goal + 5.17sINFOjoint_trajectory_controllerAccepted new action goal + 5.17sINFOros2_control_nodeReceived new action goal[0m ×2 + 5.17sINFOros2_control_nodeAccepted new action goal[0m ×2 + 5.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2). + 5.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 1.767518 ms (missed cycles : 2).[0m ×2 + 6.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3). + 6.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.982031 ms (missed cycles : 3).[0m ×2
− 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 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− 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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[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: 1786551991.13223720 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 0.09sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×6 + 0.09sINFOobjective_server_nodeNo controllers to switch after filtering already-active and already-inactive controllers. ×6 + 0.24sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 13.687ms + 0.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2). + 0.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.311915 ms (missed cycles : 2).[0m ×2 + 0.47sINFOjoint_trajectory_controllerReceived new action goal + 0.47sINFOjoint_trajectory_controllerAccepted new action goal + 0.47sINFOros2_control_nodeReceived new action goal[0m ×2 + 0.47sINFOros2_control_nodeAccepted new action goal[0m ×2 + 0.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 9.527ms + 1.44sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 11.695ms + 1.44sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2). + 1.44sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.518949 ms (missed cycles : 2).[0m ×2 + 2.43sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 10.628ms + 2.47sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3). + 2.47sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.272686 ms (missed cycles : 3).[0m ×2 + 3.50sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3). + 3.51sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.556504 ms (missed cycles : 3).[0m ×2 + 3.53sINFOamclParticle filter update iteration stats: 5000 particles 723 points - 8.073ms + 4.28sINFOjoint_trajectory_controllerGoal reached, success! + 4.28sINFOros2_control_nodeGoal reached, success![0m ×2 + 4.32sINFOobjective_server_nodeObjective `Point-to-Point Trajectory` succeeded at time: 1786551995.45237851 seconds ×3 + 4.34sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×2 + 4.35sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×2 + 4.54sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3). + 4.54sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.413024 ms (missed cycles : 3).[0m ×2 + 4.88sINFOobjective_server_nodeObjective `Solution - Generate coverage path` starting at time: 1786551996.01654935 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeFound path in 0 iterations (3.08e-07 s). ×2 + 5.57sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2). + 5.57sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.163564 ms (missed cycles : 2).[0m ×2 + 6.60sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2). + 6.60sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.191379 ms (missed cycles : 2).[0m ×2
− skipped	Wait for Trajectory Approval if User Available	wait_for_trajectory_approval_if_user_available.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2

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

7 skip

− skipped	—	segment_image_from_no_negative_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	create_point_cloud_vector_from_masks.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_image_from_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_clicked_point_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	segment_point_cloud_from_text_prompt_subtree.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_segmented_point_cloud.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 pass6 skip

✓ passed	—	vector_subtrees_example.xml	0.7s	27 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 7.18sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 7.18sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 7.43sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 7.43sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 7.48sINFOjoint_trajectory_controllerReceived new action goal + 7.48sINFOjoint_trajectory_controllerAccepted new action goal + 7.48sINFOros2_control_nodeReceived new action goal[0m ×2 + 7.49sINFOros2_control_nodeAccepted new action goal[0m ×2
✓ passed	—	reset_planning_scene.xml	0.6s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
✓ passed	—	clear_snapshot.xml	0.6s	24 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844767 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 2.74sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.71sINFOmove_groupClearing octomap...[0m ×2 + 4.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sINFOobjective_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 + 6.59sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.59sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.59sINFOcontroller_managerSuccessfully switched controllers! ×3 + 6.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 6.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 7.19sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 7.20sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 7.20sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 7.20sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 7.20sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 7.20sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 7.20sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 7.20sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 7.39sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 7.39sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− skipped	—	addtovector.xml	0.0s	21 warnings · 85 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844767 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.844767 ms (missed cycles : 3).[0m ×2 + 1.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 1.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 2.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 2.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 2.74sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 3.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 3.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 4.16sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 4.17sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 4.20sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 4.20sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 4.70sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 4.71sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 4.71sINFOmove_groupClearing octomap...[0m ×2 + 4.71sINFOmove_groupOctomap cleared.[0m ×2 + 4.71sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 5.25sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 5.25sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 5.28sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.29sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 5.84sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.99sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 6.26sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 6.26sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 6.58sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.59sINFOobjective_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 + 6.59sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.59sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 6.59sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.59sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.59sINFOcontroller_managerSuccessfully switched controllers! ×2 + 6.59sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 6.59sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.59sINFOros2_control_nodeSuccessfully switched controllers![0m ×4 + 6.61sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 6.62sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 6.62sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 6.62sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.62sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 6.62sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 6.63sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3
− 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 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− skipped	—	convert_collisionobject_to_graspableobject.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[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 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− skipped	—	teleoperate.xml	0.0s	21 warnings · 103 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.945669 ms (missed cycles : 3).[0m ×2 + 1.05sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 1.05sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 1.67sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 3.09sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 3.10sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 3.12sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 3.12sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 3.63sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 3.63sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 3.63sINFOmove_groupClearing octomap...[0m ×2 + 3.64sINFOmove_groupOctomap cleared.[0m ×2 + 3.64sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 4.18sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 4.18sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 4.21sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.22sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 4.77sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.92sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 5.19sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 5.19sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 5.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.52sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 5.52sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 5.52sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.52sINFOcontroller_managerSuccessfully switched controllers! ×3 + 5.52sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 5.52sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.52sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 5.54sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 5.54sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 5.55sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 5.55sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 5.55sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 6.11sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 6.13sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 6.13sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 6.13sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 6.13sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 6.13sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 6.13sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 6.13sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 6.32sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 6.32sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2
− skipped	—	wait_for_joint_trajectory_approval.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2

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

10 skip

− skipped	—	move_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	execute_mtc_solution_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interpolate_to_joint_state.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_pose_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	move_to_waypoint_jtc.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	record_teleop_trajectory.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	track_moving_frame.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 pass

✓ passed	—	reset_mujoco_sim.xml	0.6s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2

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

1 skip

− skipped	—	get_imarker_pose_from_mesh_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2

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

3 skip

− skipped	—	interactive_marker_visualization.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	interactive_marker_visualization_example.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2
− skipped	—	visualize_tf.xml	0.0s	24 warnings · 112 info
+ 0.00sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3). + 0.00sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.953218 ms (missed cycles : 3).[0m ×2 + 0.62sINFOros2_control_nodeMuJoCo sim: 0.48% of iterations over time budget. Below 1% expected for non-realtime.[0m ×2 + 1.02sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3). + 1.02sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.474794 ms (missed cycles : 3).[0m ×2 + 2.04sINFOros2_control_nodeSimulation thread processed 1 state-update request(s).[0m ×12 + 2.05sINFOros2_control_nodeKeyframe 'default' (index 0) reset successfully.[0m ×12 + 2.07sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3). + 2.07sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.056590 ms (missed cycles : 3).[0m ×2 + 2.58sINFOobjective_server_nodeObjective `Clear Snapshot` starting at time: 1786551706.81815767 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceClearing octomap... + 2.58sINFOmove_group.moveit.ros.move_group.clear_octomap_serviceOctomap cleared. + 2.58sINFOmove_groupClearing octomap...[0m ×2 + 2.59sINFOmove_groupOctomap cleared.[0m ×2 + 2.59sINFOobjective_server_nodeObjective `Clear Snapshot` succeeded at time: 1786551706.82836795 seconds ×3 + 3.13sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3). + 3.13sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 4.202172 ms (missed cycles : 3).[0m ×2 + 3.16sINFOobjective_server_nodeObjective `Reset Planning Scene` starting at time: 1786551707.39425087 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.17sINFOobjective_server_nodeObjective `Reset Planning Scene` succeeded at time: 1786551707.40436721 seconds ×3 + 3.72sINFOobjective_server_nodeObjective `Vector Subtrees Example` starting at time: 1786551707.95630765 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 3.87sINFOobjective_server_nodeObjective `Vector Subtrees Example` succeeded at time: 1786551708.10691047 seconds ×3 + 4.14sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2). + 4.14sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.963162 ms (missed cycles : 2).[0m ×2 + 4.45sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` starting at time: 1786551708.69063735 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 4.47sINFOobjective_server_nodeThe following controllers are preceding controllers in the chain and must also be deactivated: joint_trajectory_controller, joint_velocity_controller, velocity_force_controller ×3 + 4.47sINFOcontroller_managerDeactivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSwitch controller timeout is set to 0, using default 1s! + 4.47sINFOros2_control_nodeDeactivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOcontroller_managerDeactivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.47sINFOcontroller_managerSuccessfully switched controllers! ×3 + 4.47sINFOros2_control_nodeSwitch controller timeout is set to 0, using default 1s![0m ×2 + 4.47sINFOros2_control_nodeDeactivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.47sINFOros2_control_nodeSuccessfully switched controllers![0m ×6 + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: Simulation reset to 'default' keyframe. + 4.49sINFOobjective_server_nodeResetMujocoKeyframe Info: MuJoCo keyframe reset requested: ×2 + 4.49sINFOobjective_server_nodeSimulation reset to 'default' keyframe. ×2 + 4.50sINFOcontroller_managerActivating controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivating controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOcontroller_managerActivated controllers: [ vacuum_gripper platform_velocity_controller ] + 4.50sINFOros2_control_nodeActivated controllers: [ vacuum_gripper platform_velocity_controller ][0m ×2 + 4.50sINFOobjective_server_nodeObjective `Reset MuJoCo Sim` succeeded at time: 1786551708.74090362 seconds ×3 + 5.06sINFOobjective_server_nodeObjective `Cartesian Draw Geometry From File` starting at time: 1786551709.30009747 seconds; caller={type: UNKNOWN, name: ``, instance_id: ``}. ×3 + 5.08sINFOobjective_server_nodeThe following controllers are downstream in the chain and must also be activated: platform_velocity_controller ×3 + 5.08sINFOcontroller_managerActivating controllers: [ joint_trajectory_controller ] + 5.08sINFOros2_control_nodeActivating controllers: [ joint_trajectory_controller ][0m ×2 + 5.08sINFOcontroller_managerDeactivated controllers: [ platform_velocity_controller ] + 5.08sINFOcontroller_managerActivated controllers: [ joint_trajectory_controller platform_velocity_controller ] + 5.08sINFOros2_control_nodeDeactivated controllers: [ platform_velocity_controller ][0m ×2 + 5.08sINFOros2_control_nodeActivated controllers: [ joint_trajectory_controller platform_velocity_controller ][0m ×2 + 5.27sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3). + 5.27sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 3.990420 ms (missed cycles : 3).[0m ×2 + 6.13sWARNobjective_server_nodePlanCartesianPath Warning: The position_only port is deprecated. Prefer the cartesian_constraint port to select whether the tip orientation is constrained. ×3 + 6.13sINFOobjective_server_nodePlanning for 177 path waypoints. ×3 + 6.38sWARNcontroller_managerOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2). + 6.38sWARNros2_control_nodeOverrun detected! The controller manager missed its desired rate of 600 Hz. The loop took 2.790308 ms (missed cycles : 2).[0m ×2 + 6.43sINFOjoint_trajectory_controllerReceived new action goal + 6.43sINFOjoint_trajectory_controllerAccepted new action goal + 6.43sINFOros2_control_nodeReceived new action goal[0m ×2 + 6.44sINFOros2_control_nodeAccepted new action goal[0m ×2